Magellan™ Motion Processor MC58000 Electrical Specification for Brushed Servo, Brushless Servo, Microstepping and Stepping Motion Control Preliminary Performance Motion Devices, Inc. 55 Old Bedford Rd Lincoln, MA 01773 Revision 0.6, November 2003 NOTICE This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is protected by federal copyright law. The contents of this document may not be disclosed to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express written permission of PMD. The information contained in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form, by any means, electronic or mechanical, for any purpose, without the express written permission of PMD. Copyright 2003 by Performance Motion Devices, Inc. Magellan and C-Motion are trademarks of Performance Motion Devices, Inc Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD's standard warranty. Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those mandated by government requirements. Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to discontinue any product or service without notice, and advises customers to obtain the latest version of relevant information to verify, before placing orders, that information being relied on is current and complete. All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement, including those pertaining to warranty, patent infringement, and limitation of liability. Safety Notice Certain applications using semiconductor products may involve potential risks of death, personal injury, or severe property or environmental damage. Products are not designed, authorized, or warranted to be suitable for use in life support devices or systems or other critical applications. Inclusion of PMD products in such applications is understood to be fully at the customer's risk. In order to minimize risks associated with the customer's applications, adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards. Disclaimer PMD assumes no liability for applications assistance or customer product design. PMD does not warrant or represent that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other intellectual property right of PMD covering or relating to any combination, machine, or process in which such products or services might be or are used. PMD's publication of information regarding any third party's products or services does not constitute PMD's approval, warranty or endorsement thereof. MC58000 Electrical Specification – Preliminary 11/13/2003 iii MC58000 Electrical Specification – Preliminary 11/13/2003 iv Related Documents MC50000 Motion Processor User’s Guide (MC50000UG) How to set up and use all members of the MC50000 Motion Processor family. MC50000 Motion Processor Programmer’s Command Reference (MC50000PR) Descriptions of all MC50000 Motion Processor commands, with coding syntax and examples, listed alphabetically for quick reference. MC50000 Motion Processor Electrical Specifications Three booklets containing physical and electrical characteristics, timing diagrams, pinouts, and pin descriptions of each: MC55000 Series, for stepping motion control (MC55000ES); MC58000 Series, for brushed and brushless servo, microstepping and stepping motion control (MC58000ES). MC50000 Motion Processor Developer’s Kit Manual (DK50000M) How to install and configure the DK50000 developer’s kit PC board. MC58000 Electrical Specification – Preliminary 11/13/2003 v MC58000 Electrical Specification – Preliminary 11/13/2003 vi Table of Contents Warranty...................................................................................................................................................... iii Safety Notice ................................................................................................................................................ iii Disclaimer..................................................................................................................................................... iii Related Documents....................................................................................................................................... v Table of Contents........................................................................................................................................ vii 1 The MC50000 Family................................................................................................................................ 9 1.2 How to Order................................................................................................................................ 11 2 Functional Characteristics...................................................................................................................... 12 2.1 Configurations, parameters, and performance .............................................................................. 12 2.2 Physical characteristics and mounting dimensions....................................................................... 15 2.2.1 CP chip ................................................................................................................................. 15 2.2.2 IO chip .................................................................................................................................. 16 2.3 Environmental and electrical ratings ............................................................................................ 17 2.4 MC58110 System configuration – Single chip, 1 axis control ..................................................... 17 2.5 MC58020 System configuration – Two chip, 1 to 4 axis control ................................................. 18 2.6 Peripheral device address mapping............................................................................................... 19 3 Electrical Characteristics........................................................................................................................ 20 3.1 DC characteristics......................................................................................................................... 20 3.2 AC characteristics......................................................................................................................... 20 4 I/O Timing Diagrams .............................................................................................................................. 23 4.1 Clock ............................................................................................................................................ 23 4.2 Quadrature encoder input ............................................................................................................. 23 4.3 Reset ............................................................................................................................................. 23 4.4 Host interface, 8/16 mode............................................................................................................. 24 4.4.1 Instruction write, 8/16 mode................................................................................................. 24 4.4.2 Data write, 8/16 mode........................................................................................................... 24 4.4.3 Data read, 8/16 mode............................................................................................................ 25 4.4.4 Status read, 8/16 mode.......................................................................................................... 25 4.5 Host interface, 16/16 mode........................................................................................................... 26 4.5.1 Instruction write, 16/16 mode............................................................................................... 26 4.5.2 Data write, 16/16 mode......................................................................................................... 26 4.5.3 Data read, 16/16 mode.......................................................................................................... 27 4.5.4 Status read, 16/16 mode........................................................................................................ 27 4.6 External memory timing............................................................................................................... 28 4.6.1 External memory read........................................................................................................... 28 4.6.2 External memory write ......................................................................................................... 29 4.7 Peripheral device timing ............................................................................................................... 30 4.7.1 Peripheral device read........................................................................................................... 30 4.7.2 Peripheral device write ......................................................................................................... 31 5 Pinouts and Pin Descriptions.................................................................................................................. 32 5.1 Pinouts for the MC58110 ............................................................................................................. 32 5.1.1 MC58110 CP chip pin description........................................................................................ 33 MC58000 Electrical Specification – Preliminary 11/13/2003 vii 5.1.2 MC58110 CP chip pin assignment for multiple motor types................................................ 37 5.2 Pinouts for the MC58420 ............................................................................................................. 38 5.2.1 MC58020 IO chip pin description ........................................................................................ 39 5.2.2 MC58020 IO chip pin assignment for multiple motor types ................................................ 44 5.2.3 MC58020 CP chip pin description........................................................................................ 46 5.3 External oscillator filter ................................................................................................................ 50 MC58000 Electrical Specification – Preliminary 11/13/2003 viii 1 The MC50000 Family Number of axes Number of chips Motor type Output format Parallel Asynchronous serial CAN 2.0B Incremental encoder input Parallel word device input Index & Home signals Position capture Directional limit switches PWM output Parallel DAC output SPI DAC output Pulse & direction output Trapezoidal profiling S-curve profiling Velocity profiling Electronic gearing On-the-fly changes PID position loop Dual encoder loop Derivative sampling time Feedforward (accel & vel) Dual bi-quad filter MC55020 Series MC58020 Series MC55110 MC58110 4,3,2 or 1 2 (CP and IO) 4,3,2 or 1 2 (CP and IO) Brushed DC servo Brushless DC servo Stepping Brushed single phase Sinusoidal commutation Microstepping Pulse and direction 1 1 (CP) 1 1 (CP) Brushed DC servo Brushless DC servo Stepping Brushed single phase Sinusoidal commutation Microstepping Pulse and direction Stepping Pulse and direction Stepping Pulse and direction √ √ √ Communication interface √ √ √ Position input √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ - Motor command output √ √ √ Trajectory generation - √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ - √ √ √ √ Servo filter √ √ - √ √ - √ - √ - √ - √ - √ - √ MC58000 Electrical Specification – Preliminary 11/13/2003 9 MC55020 Series MC58020 Series MC55110 MC58110 Miscellaneous Data trace/diagnostics Motion error detection Axis settled indicator Analog input Programmable bit output Software-invertible signals User-defined I/O External RAM support Multi-chip synchronization Chipset part numbers Developer's Kit p/n's: √ √ √ √ √ (with encoder) √ √ (with encoder) √ √ (with encoder) √ √ (with encoder) √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ √ MC55120 MC55220 MC55320 MC55420 DK55420 MC58120 MC58220 MC58320 MC58420 DK58420 MC55110 MC58110 DK55110 DK58110 Introduction This manual describes the operational characteristics of the MC58000 Series Motion Processors from PMD. These devices are members of PMD’s third-generation motion processor family. Each of these devices is a complete chip-based motion processor. They provide trajectory generation and related motion control functions. Depending on the type of motor controlled they provide servo loop closure, on-board commutation for brushless motors, and high-speed pulse and direction outputs. Together these products provide a software-compatible family of dedicated motion processors that can handle a large variety of system configurations. Each of these chips utilize a similar architecture, consisting of a high-speed computation unit, along with an ASIC (Application Specific Integrated Circuit). The computation unit contains special onboard hardware that makes it well suited for the task of motion control. Along with similar hardware architecture these chips also share most software commands, so that software written for one series may be re-used with another, even though the type of motor may be different. MC58000 Electrical Specification – Preliminary 11/13/2003 10 Family Summary MC55000 Series – These chipsets provide high-speed pulse and direction signals for step motor systems. For the MC55020 series two TQFP ICs are required: a 100-pin Input/Output (IO) chip, and a 144-pin Command Processor (CP) chip, while the MC55110 has all functions integrated into a single chip a 144-pin Command Processor (CP) chip. MC58000 Series – This series outputs motor commands in Sign/Magnitude PWM or DACcompatible format for use with DC-Brush motors or Brushless DC motors having external commutation; two-phase or three-phase sinusoidally commutated motor signals in PWM or DACcompatible format for brushless servo motors; pulse and direction output for step motors; and two phase signals per axis in either PWM or DAC-compatible signals for microstepping motors. For the MC58020 series two TQFP ICs are required: a 100-pin Input/Output (IO) chip, and a 144pin Command Processor (CP) chip, while the MC58110 has all functions integrated into a single 144pin CP chip. 1.2 How to Order When ordering a single-chip configuration, only the CP part number is necessary. For two-IC and multi-axis configurations, both the CP and the IO part numbers are required. CP (1 or 2 chip configurations) IO (2 chip configurations only) MC5 MC50000IO 0CP . # Axes Motor Type 1,2,3,4 # Chips 8 = Multi Motor 1 (CP only) 5 = Pulse & Direction 2 (CP & IO) CP Version (Call PMD) Developer’s Kit DK5 0CP . 50000IO # Axes Motor Type 1,2,3,4 # Chips 8 = Multi Motor 1 (CP only) 5 = Pulse & Direction 2 (CP & IO) CP Version (Call PMD) MC58000 Electrical Specification – Preliminary 11/13/2003 11 2 Functional Characteristics 2.1 Configurations, parameters, and performance Configuration Operating modes Communication modes Serial port baud rate range Profile modes Position range Velocity range Acceleration and deceleration ranges Jerk range Electronic gear ratio range 4 axes (MC58420) 3 axes (MC58320) 2 axes (MC58220) 1 axis (MC58120 or MC58110) Servo Closed loop (motor command is driven from output of servo filter) Open loop (motor command is driven from user-programmed register) Microstepper Open loop (motor command is driven from output of trajectory generator & microstep generator, encoder input used for stall detection) Stepper Open loop (pulse generator is driven by trajectory generator output, encoder input used for stall detection) 8/16 parallel 8 bit external parallel bus with 16 bit command word size 16/16 parallel 16 bit external parallel bus with 16 bit command word size Point to point asynchronous serial Multi-drop asynchronous serial CAN bus 2.0B, protocol co-exists with CANOpen 1,200 baud to 416,667 baud S-curve point-to-point Velocity, acceleration, jerk, and position parameters Trapezoidal point-to-point Velocity, acceleration, deceleration, and position parameters Velocity-contouring Velocity, acceleration, and deceleration parameters Electronic Gear Encoder or trajectory position of one axis used to drive a second axis. Master and slave axes and gear ratio parameters External All commanded profile parameters are generated by the host and stored in external RAM -2,147,483,648 to +2,147,483,647 counts|steps -32,768 to +32,767 counts|steps per cycle with a resolution of 1/65,536 counts|steps per cycle 0 to +32,767 counts|steps per cycle2 with a resolution of 1/65,536 counts|steps per cycle 2 0 to ½ counts|steps per cycle 3 with a resolution of 1/4,294,967,296 counts|steps per cycle 3 -32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction) MC58000 Electrical Specification – Preliminary 11/13/2003 12 Filter modes Filter parameter resolution Position error Position error tracking Motor output modes Commutation rate Microstepping waveform Microsteps per full step Maximum encoder rate Parallel encoder word size Parallel encoder read rate Hall sensor inputs Cycle/servo loop timing range Minimum cycle/servo loop time Multi-chip synchronization Limit switches Position-capture triggers Other digital signals (per axis) Software-invertable signals Analog input User defined discrete I/O RAM/external memory support Trace modes Maximum number of trace variables Number of traceable variables Scalable PID + Velocity feedforward + Acceleration feedforward + Bias. Also includes integration limit, settable derivative sampling time, output motor command limiting and two bi-quad filters Dual encoder feedback mode where auxiliary encoder is used for backlash compensation 16 bits 32 bits Motion error window Allows axis to be stopped upon exceeding programmable window Tracking window Allows flag to be set if axis exceeds a programmable position window Axis settled Allows flag to be set if axis exceeds a programmable position window for a programmable amount of time after trajectory motion is compete PWM (10-bit resolution at 20 kHz or 8-bit resolution at 80 kHz) Parallel DAC-compatible (16 bits) SPI DAC-compatible (16 bits) Step and Direction (4.98 Mpulses/sec maximum) 10kHz Sinusoidal Programmable, 1 to 256 Incremental (up to 10 Mcounts/sec) Parallel-word (up to 160 Mcounts/sec) 16 bits 20 kHz (reads all axes every 50 µsec) 3 Hall effect inputs per axis (TTL level signals) 51.2 microseconds to 1.048576 seconds 51.2 microseconds <10µsec difference between master and slave servo cycle 2 per axis: one for each direction of travel 2 per axis: index and home signals 1 AxisIn signal per axis, 1 AxisOut signal per axis Encoder A, Encoder B, Index, Home, AxisIn, AxisOut, PositiveLimit, NegativeLimit, HallA, HallB, HallC (all individually programmable per axis) 8 10-bit analog inputs 256 16-bit wide user defined I/O 65,536 blocks of 32,768 16 bit words per block. Total accessible memory is 2,147,483,648 16 bit words one-time continuous 4 27 MC58000 Electrical Specification – Preliminary 11/13/2003 13 Number of host instructions 154 MC58000 Electrical Specification – Preliminary 11/13/2003 14 2.2 Physical characteristics and mounting dimensions 2.2.1 CP chip All dimensions are in millimeters. MC58000 Electrical Specification – Preliminary 11/13/2003 15 2.2.2 IO chip All dimensions are in millimeters. MC58000 Electrical Specification – Preliminary 11/13/2003 16 Environmental and electrical ratings -65 °C to 150 °C -40 °C to 85 °C* -40 °C to 125 °C* CP 445 mW IO 110 mW 40.0 MHz -0.3V to +4.6V 3.0V to 3.6V Storage Temperature (Ts) Operating Temperature: Standard (Ta) Operating Temperature: Extended (Ta) Power Dissipation (Pd) Nominal Clock Frequency (Fclk) Supply Voltage limits (Vcc) Supply Voltage operating range (Vcc) MC58110 System configuration – Single chip, 1 axis control The following figure shows the principal control and data paths in an MC58110 system. CANOpen/CAN 2.0B network Host Serial network HostCmd ~HostRead HostRdy ~HostWrite HostIntrpt ~HostSlct Parallel port HostData0-15 Home Parallel Communication PLD/FPGA 20MHz clock CP B Analog inputs PWM output Positive Negative SPI 16 bit data/address bus AxisIn A Encoder Index 40 MHz clock Hall A/B/C 2.4 AxisOut 2.3 Motor type configuration Limit switches Serial port configuration CAN bus configuration DAC output D/A converter Motor Amplifier Parallel word input User I/O External memory The shaded area shows the CPLD/FPGA that must be provided by the designer if parallel communication is required. A description and the necessary logic (in the form of schematics) of this device are detailed in the section Parallel FPGA section of this manual. MC58000 Electrical Specification – Preliminary 11/13/2003 17 The CP chip is a self-contained motion processor. In addition to handling all system functions, the CP chip contains the profile generator, which calculates velocity, acceleration, and position values for a trajectory. When an axis is configured for servo motor control, a digital servo filter controls the motor output signal. When an axis is configured for microstepping motor control, a commutator controls the motor output signal. In either case, one of three types of output can be generated: • a Pulse-Width Modulated (PWM) signal output; or • a DAC-compatible value routed via the data bus to the appropriate D/A converter; or • a DAC-compatible value routed via the SPI port to the appropriate D/A converter When an axis is configured for step motor control, the CP chip generates step and direction signals. Axis position information returns to the motion processor in the form of encoder feedback using either the incremental encoder input signals, or via the bus as parallel word input. The MC58110 can co-exist in a CANOpen network as a slave device. It is CAN 2.0B compliant. MC58020 System configuration – Two chip, 1 to 4 axis control The following figure shows the principal control and data paths in an MC58020 system. CANOpen/CAN 2.0B network HostCmd 20MHz clock Motor type configuration Limit switches Encoder Motor amplifier D/A converter DAC output External memory Serial port configuration CAN bus configuration User I/O Parallel word input Other user devices MC58000 Electrical Specification – Preliminary 11/13/2003 18 Analog inputs Negative Positive 16-bit data bus Hall A/B/C CP AxisOut PWM or S+D output Home Index IO B HostIntrpt AxisIn ~HostRead HostRdy Serial network SPI 40 MHz clock ~HostWrite Parallel port ~HostSlct HostData0-15 Host A 2.5 The IO chip contains the parallel host interface, the incremental encoder input along with motor output signals that are configured as PWM or step and direction signals according to the motor type selected for each axis. The CP chip contains the profile generator, which calculates velocity, acceleration, and position values for a trajectory. When an axis is configured for servo motor control, a digital servo filter controls the motor output signal. When an axis is configured for microstepping motor control, a commutator controls the motor output signal. In either case, one of three types of output can be generated: • a Pulse-Width Modulated (PWM) signal output; or • a DAC-compatible value routed via the data bus to the appropriate D/A converter; or • a DAC-compatible value routed via the SPI port to the appropriate D/A converter When an axis is configured for step motor control, the IO chip generates the step and direction signals. Axis position information returns to the motion processor in the form of encoder feedback using either the incremental encoder input signals, or via the bus as parallel word input. The MC58020 can co-exist in a CANOpen network as a slave device. It is CAN 2.0B compliant. 2.6 Peripheral device address mapping Device addresses on the CP chip’s external bus are memory-mapped to the following locations: Address Device Description 0100h Motor type configuration Contains the configuration data for the per axis motor type selection 0200h Serial port configuration Contains the configuration data (transmission rate, parity, stop bits, etc) for the asynchronous serial port 0400h CAN port configuration Contains the configuration data (baud rate and node ID) for the CAN controller 0800h Parallel-word encoder Base address for parallel-word feedback devices 1000h User-defined Base address for user-defined I/O devices 2000h RAM page pointer Page pointer to external memory 4000h Motor-output DACs Base address for motor-output D/A converters 8000h Reserved MC58000 Electrical Specification – Preliminary 11/13/2003 19 3 Electrical Characteristics 3.1 DC characteristics (Vcc and Ta per operating ratings, Fclk = 40.0 MHz) Symbol Vcc Idd Minimum 3.00 V Input Voltages 2.0 V Maximum 3.6 V 135 mA CP 33 mA IO Vih Vil Logic 1 input voltage Logic 0 input voltage Voh Logic 1 Output Voltage Vol Logic 0 Output Voltage Iout Tri-State output leakage current Iin Input current -25 µA 25 µA Iinclk Input current, CPClk -25 µA 25 µA Cio Input/Output capacitance 2/3 pF Zai Ednl Einl 3.2 Parameter Supply Voltage Supply Current Vcc 0.8 V Output Voltages 2.4 V Other -2 µA Analog Input Analog input source impedance Differential nonlinearity error. -1 Difference between the step width and the ideal value. Integral nonlinearity error. Maximum deviation from the best straight line through the ADC transfer characteristics, excluding the quantization error. Conditions open outputs @CP @CP -2 mA@CP 0.4 V 8 mA@CP 2 µA @CP 0 < Vout < Vcc @CP 0 < Vi < Vcc 0 < Vi < Vcc @CP typical 10Ω ±2 LSB ±2 LSB AC characteristics See timing diagrams, Section 4, for Tn numbers. The symbol “~” indicates active low signal. Timing Interval Clock Frequency (Fclk) Clock Pulse Width Clock Period (note 3) Encoder Pulse Width Dwell Time Per State Tn T1 T2 T3 T4 Minimum 4 MHz 20 nsec 50 nsec 150 nsec 75 nsec Maximum 40 MHz (note 1) 30 nsec 250 nsec MC58000 Electrical Specification – Preliminary 11/13/2003 20 Timing Interval Index Setup and Hold (relative to Quad A and Quad B low) ~HostSlct Hold Time ~HostSlct Setup Time HostCmd Setup Time HostCmd Hold Time Read Data Access Time Read Data Hold Time ~HostRead High to HI-Z Time HostRdy Delay Time ~HostWrite Pulse Width Write Data Delay Time Write Data Hold Time Read Recovery Time (note 2) Write Recovery Time (note 2) Read Pulse Width Tn T5 Minimum 0 nsec T6 T7 T8 T9 T10 T11 T12 T13 T14 T15 T16 T17 T18 T19 0 nsec 0 nsec 0 nsec 0 nsec External Memory Read Timing ClockOut low to control valid ClockOut low to address valid Address valid to ~ReadEnable low ClockOut high to ~ReadEnable low Data access time from Address valid Data access time from ~ReadEnable low Data hold time ClockOut low to control inactive Address hold time after ClockOut low ClockOut low to Strobe low ClockOut low to Strobe high W/~R low to R/~W rising delay time T20 T21 T22 T23 T24 T25 T26 T27 T28 T29 T30 T31 External Memory Write Timing ClockOut high to control valid ClockOut high to address valid Address valid to ~WriteEnable low ClockOut low to ~WriteEnable low Data setup time before ~WriteEnable high Data bus driven from ClockOut low Data hold time ClockOut high to control inactive Address hold time after ClockOut low ClockOut low to Strobe low ClockOut low to Strobe high R/~W low to W/~R rising delay time ClockOut high to control valid T32 T33 T34 T35 T36 T37 T38 T39 T40 T41 T42 T43 T44 Peripheral Device Read Timing Address valid to ~ReadEnable low Data access time from Address valid Data access time from ~ReadEnable low T22-45 T24-46 T25-47 100 nsec 70 nsec Maximum 25 nsec 10 nsec 20 nsec 150 nsec 15 nsec 0 nsec 60 nsec 60 nsec 70 nsec 4 nsec 8 nsec 31 nsec 5 nsec 40 nsec 31 nsec 0 nsec 5 nsec 2 nsec 5 nsec 6 nsec 5 nsec 4 nsec 10 nsec 29 nsec 6 nsec 33 nsec -3 nsec 2 nsec 5 nsec -5 nsec 6 nsec 6 nsec 5 nsec 6 nsec 56 nsec 65 nsec 56 nsec MC58000 Electrical Specification – Preliminary 11/13/2003 21 Timing Interval Peripheral Device Write Timing Address valid to ~WriteEnable low Data setup time before ~WriteEnable high Tn Minimum T34-48 T36-49 54 nsec 58 nsec Device Ready/ Outputs Initialized T57 Maximum 1 msec Note 1 Performance figures and timing information valid at Fclk = 40.0 MHz only. For timing information and performance parameters at Fclk < 40.0 MHz, contact PMD. Note 2 For 8/16 interface modes only. Note 3 The clock low/high split has an allowable range of 40-60%. MC58000 Electrical Specification – Preliminary 11/13/2003 22 4 I/O Timing Diagrams For the values of Tn, please refer to the table in Section 3.2. 4.1 Clock MasterClkIn T1 4.2 T1 T2 Quadrature encoder input T3 T3 Quad A T4 T4 Quad B T5 T5 ~Index Index (= ~QuadA * ~QuadB * ~Index) 4.3 Reset Vcc I/OClk ~RESET T50 T57 MC58000 Electrical Specification – Preliminary 11/13/2003 23 4.4 Host interface, 8/16 mode 4.4.1 Instruction write, 8/16 mode T7 T6 see note ~HostSlct T9 T8 HostCmd see note T18 T14 T14 ~HostWrite T16 HostData0-7 T16 High byte Low byte HostRdy T15 T15 T13 Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point. 4.4.2 Data write, 8/16 mode ~HostSlct T7 T6 see note HostCmd T8 T9 see note T18 T14 T14 ~HostWrite T16 HostData0-7 T16 High byte Low byte HostRdy T15 T15 T13 Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point. MC58000 Electrical Specification – Preliminary 11/13/2003 24 4.4.3 Data read, 8/16 mode T7 T6 ~HostSlct see note T9 T8 HostCmd see note ~HostRead T19 T12 HostData0-7 High byte High-Z T10 High-Z High-Z Low byte T11 HostRdy T13 Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point. 4.4.4 Status read, 8/16 mode T7 ~HostSlct HostCmd T6 T9 T8 T17 ~HostRead T19 T12 HostData0-7 High-Z High-Z High byte T10 Low byte T11 MC58000 Electrical Specification – Preliminary 11/13/2003 25 High-Z 4.5 Host interface, 16/16 mode 4.5.1 Instruction write, 16/16 mode ~HostSlct T7 T6 HostCmd T8 T9 T14 ~HostWrite T16 HostData0-15 HostRdy T15 T13 4.5.2 Data write, 16/16 mode T7 T6 ~HostSlct T9 T8 HostCmd T14 ~HostWrite T16 HostData0-15 HostRdy T15 T13 MC58000 Electrical Specification – Preliminary 11/13/2003 26 4.5.3 Data read, 16/16 mode ~HostSlct T6 T7 HostCmd T8 T9 T19 ~HostRead T12 HostData0-15 High-Z High-Z T10 T11 HostRdy T13 4.5.4 Status read, 16/16 mode T7 T6 T8 T9 ~HostSlct HostCmd T19 ~HostRead T12 HostData0-15 High-Z High-Z T10 T11 MC58000 Electrical Specification – Preliminary 11/13/2003 27 4.6 External memory timing 4.6.1 External memory read Note: PMD recommends using memory with an access time no greater than 15 nsec. ClockOut T20 T27 ~RAMSlct T21 T28 Addr0-Addr15 T31 W/~R R/~W T22 T23 T26 ~ReadEnable T25 T24 Data0-Data15 T29 ~Strobe MC58000 Electrical Specification – Preliminary 11/13/2003 28 T30 4.6.2 External memory write ClockOut T32 T39 ~RAMSlct T33 T40 Addr0-Addr15 T44 T43 R/~W W/~R T34 T38 T35 ~WriteEnable T37 T36 Data0-Data15 T41 ~Strobe MC58000 Electrical Specification – Preliminary 11/13/2003 29 T42 4.7 Peripheral device timing 4.7.1 Peripheral device read ClockOut T20 T27 ~PeriphSlct T21 T28 Addr0-Addr15 T31 W/~R R/~W T45 T23 T26 ~ReadEnable T47 T46 Data0-Data15 T29 ~Strobe MC58000 Electrical Specification – Preliminary 11/13/2003 30 T30 4.7.2 Peripheral device write ClockOut T32 T39 ~PeriphSlct T33 T40 Addr0-Addr15 T44 T43 R/~W W/~R T48 T38 T35 ~WriteEnable T37 T49 Data0-Data15 T41 ~Strobe MC58000 Electrical Specification – Preliminary 11/13/2003 31 T42 5 Pinouts and Pin Descriptions 5.1 Pinouts for the MC58110 4, 29, 42, 50, 67, 77, 86, 95, 122, 129, 141 133 89 93 96 92 19 120 82 87 25 26 72 70 35 30 23 123 73 80 78 74 71 68 64 61 57 53 51 48 45 43 39 34 31 127 130 132 134 136 138 143 5 9 13 15 17 20 22 24 27 ~Reset ~WriteEnable ~ReadEnable ~Strobe R/~W W/~R Ready ~PeriphSlct ~RAMSlct SrlXmt SrlRcv CANXmt/SrlEnable CANRcv SPIClock SPIXmt IOInterrupt MasterClkIn ClockOut Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 AnalogVcc AnalogRefHigh AnalogRefLow AnalogGnd Analog0 Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 PosLim1 NegLim1 AxisOut1 AxisIn1 PWMMag1A PWMSign1A PWMMag1B PWMSign1B PWMMag1C PWMSign1C QuadA1 QuadB1 ~Home1 QuadAuxA1 QuadAuxB1 ~Index1 Hall1A Hall1B Hall1C 116 115 114 117 112 113 110 111 107 109 105 108 46 38 32 16 56 54 52 47 44 40 83 79 75 88 81 69 18 14 37 ~ParallelEnable ~HostInterrupt Synch OscFilter1 OscFilter2 Vcc5 Vssf 8 131 21 11 10 58 12 VCC CP GND 3, 28, 41, 49, 66, 76, 85, 94, 125, 128, 140 AGND 98, 99, 100, 101, 102, 103, 104, 106 No connection 1, 2, 6, 7, 33, 36, 55, 59, 60, 62, 63, 65, 84, 90, 91, 97, 118, 119, 121, 124, 126, 135, 137, 139, 142, 144 MC58000 Electrical Specification – Preliminary 11/13/2003 32 5.1.1 MC58110 CP chip pin description CP Pin Name and number Direction Description ~Reset 133 input ~WriteEnable 89 output ~ReadEnable 93 output ~Strobe 96 output R/~W 92 output W/~R 19 output Ready 120 input ~PeriphSlct 82 output ~RAMSlct SrlXmt SrlRcv CANXmt SrlEnable 87 25 26 72 output output input output CANRcv SPIClock 70 35 output output SPIXmt IOInterrupt 30 23 output input MasterClkIn 123 input ClockOut 73 output This is the master reset signal. When brought low, this pin resets the chipset to its initial conditions. This signal is the write-enable strobe. When low, this signal indicates that data is being written to the bus. This signal is the read-enable strobe. When low, this signal indicates that data is being read from the bus. This signal is low when the data and address are valid during CP communications. If the parallel interface is used, this pin should be connected to the PLD/FPGA IO chip signal CPStrobe. This signal is high when the CP chip is performing a read, and low when it is performing a write. If the parallel interface is used, this pin should be connected to the PLD/FPGA IO chip signal CPR/~W. This signal is the inverse of R/~W; it is high when R/~W is low, and vice versa. For some decode circuits and devices this is more convenient than R/~W. Ready can be pulled low to add wait states for external accesses. Ready indicates that an external device is prepared for a bus transaction to be completed. If the device is not ready, it pulls the Ready pin low. The motion processor then waits one cycle and checks Ready again. This signal can be left unconnected if it is not used. This signal is low when peripheral devices on the data bus are being addressed. If the parallel interface is used, this pin should be connected to the PLD/FPGA IO chip signal CPPeriphSlct. This signal is low when external memory is being accessed. This pin outputs serial data from the asynchronous serial port. This pin inputs serial data to the asynchronous serial port. When the CAN host interface is used, this pin transmits serial data to the CAN transceiver. When the multi-drop serial interface is used, this pin sets the serial port enable line and the CANXmt function is not available. SrlEnable is high during transmission for the multi-drop protocol and low at all other times. This pin receives serial data from the CAN transceiver. This pin is the clock signal used for strobing synchronous serial data to the serial DAC(s). This signal is only active when SPI data is being transmitted. This pin transmits synchronous serial data to the serial DAC(s). This interrupt signal is used for IO to CP communication. If the parallel interface is used, this pin should be connected to the PLD/FPGA IO chip signal CPInterrupt. This signal can be left unconnected if it is not used. This is the clock signal for the Motion Processor. It is driven at a nominal 20MHz. This signal is the reference output clock. Its frequency is twice the frequency of the input clock (which is normally 20MHz) resulting in a nominal output frequency of 40MHz. MC58000 Electrical Specification – Preliminary 11/13/2003 33 CP Pin Name and number Direction Description Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 AnalogVcc output Multi-purpose address lines. These pins comprise the CP chip’s external address bus, used to select devices for communication over the data bus. If the parallel interface is used, pins Addr0, Addr1, and Addr15 should be connected to the PLD/FPGA IO chip signals CPAddr0, CPAddr1 and CPAddr15. They are used to communicate between the CP and IO chips. Other address pins may be used for DAC output, parallel word input, or userdefined I/O operations. See the User’s Guide for a complete memory map. bi-directional Multi-purpose data lines. These pins comprise the CP chip’s external data bus, used for all communications with peripheral devices such as external memory or DACs. They may also be used for parallel-word input and for user-defined I/O operations. If the parallel interface is used, these pins should be connected to the PLD/FPGA IO chip signals CPData0-15. input Analog input Vcc. This pin should be connected to the analog input supply voltage, which must be in the range 3.0-3.6 V. If the analog input circuitry is not used, this pin should be tied to Vcc. Analog high voltage reference for A/D input. The allowed range is AnalogRefLow to AnalogVcc. If the analog input circuitry is not used, this pin should be tied to Vcc. Analog low voltage reference for A/D input. The allowed range is AnalogGND to AnalogRefHigh. If the analog input circuitry is not used, this pin should be tied to GND. Analog input ground. This pin should be connected to the analog input power supply return. If the analog input circuitry is not used, this pin should be tied to GND. These signals provide general-purpose analog voltage levels which are sampled by an internal A/D converter. The A/D resolution is 10 bits. The allowed signal input range is AnalogRefLow to AnalogRefHigh. 80 78 74 71 68 64 61 57 53 51 48 45 43 39 34 31 127 130 132 134 136 138 143 5 9 13 15 17 20 22 24 27 116 AnalogRefHigh 115 input AnalogRefLow 114 input AnalogGND 117 input Analog0 Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 112 113 110 111 107 109 105 108 input Any unused pins should be tied to AnalogGND. If the analog input circuitry is not used, these pins should be tied to GND. MC58000 Electrical Specification – Preliminary 11/13/2003 34 CP Pin Name and number Direction Description PosLim1 46 input NegLim1 38 input AxisOut1 32 output AxisIn1 16 input PWMMag1A PWMSign1A PWMMag1B PWMSign1B PWMMag1C PWMSign1C 56 54 52 47 44 40 output This signal provides input from the positive-side (forward) travel limit switch. On power-up or after reset this signal defaults to active low interpretation, but the interpretation can be set to active high interpretation using the SetSignalSense instruction. If this pin is not used it may be left unconnected. This signal provides input from the negative-side (reverse) travel limit switch. On power-up or after reset this signal defaults to active low interpretation, but the interpretation can be set to active high interpretation using the SetSignalSense instruction. If this pin is not used it may be left unconnected. This pin can be programmed to track the state of any bit in the status registers. If this pin is not used it may be left unconnected. This pin is a general-purpose input that can also be used as a breakpoint input. If this pin is not used it may be left unconnected. These pins provide the Pulse Width Modulated signals for each phase of the motor. The PWM resolution is 10 bits at a frequency of 20.0 KHz or 80kHz, selectable via the host command SetPWMFrequency. In 2 or 3-phase PWM 50/50 mode, PWMMag1A/1B/1C are the only signals and encode both the magnitude and direction in the one signal. In single-phase PWM sign/magnitude mode, PWMMag1A and PWMSign1A are the PWM magnitude and direction signals respectively. In 2-phase PWM sign/magnitude mode, PWMMag1A and PWMSign1A are the PWM magnitude and direction signals for Phase A. PWMMag1B and PWMMag1B are the PWM magnitude and direction signals for Phase B. SPIEnable1 54 output Pulse1 56 output Direction1 54 output AtRest1 52 output Unused pins should be left unconnected. Refer to the User’s Guide for more information on PWM encoding schemes. This pin provides the enable signal when SPI DAC output is active. The enable is high when the DAC channel is being written to. At all other times the signal is low. SPI output can only be used when the axis being controlled is DC brushed or when the amplifier expects a single-phase input and it performs brushless motor commutation. PWM and Step and Direction output is not available when SPI DAC output is selected. If this pin is not used it may be left unconnected. This pin provides the pulse (step) signal to the motor. A step occurs when the signal transitions from a high to a low state. This default behavior can be changed to a low to high state transition using the command SetSignalSense. If this pin is not used it may be left unconnected. This pin indicates the direction of motion and works in conjunction with the pulse signal. A high level on this signal indicates a positive direction move and a low level indicates a negative direction move. This signal indicates that the axis is at rest and the step motor can be switched to low power or standby mode. A high level on this signal indicates the axis is at rest while a low signal indicates the axis is in motion. MC58000 Electrical Specification – Preliminary 11/13/2003 35 CP Pin Name and number Direction Description QuadA1 QuadB1 83 79 input ~Home1 75 input QuadAuxA1 QuadAuxB1 ~Index1 88 81 69 input These pins should be connected to the A and B quadrature signals from the incremental encoder. When the axis is moving in the positive (forward) direction, signal A leads signal B by 90°. The theoretical maximum encoder pulse rate is 5.0 MHz. Actual maximum rate will vary, depending on signal noise. NOTE: Many encoders require a pull-up resistor on each signal to establish a proper high signal. Check your encoder’s electrical specification. If these pins are not used they may be left unconnected. This pin provides the home signal, a general-purpose input to the position capture mechanism. A valid home signal is recognized by the motion processor when ~Home transitions from high to low. If this pin is not used it may be left unconnected. If index capture is required, the encoder A and B signals connected to QuadA1 and QuadB1 signals must also be connected to QuadAuxA1 and QuadAuxB1. The index pin should be connected to the index signal from the incremental encoder. A valid index pulse is recognized by the motion processor when this signal transitions from high to low. If these pins are not used they may be left unconnected. WARNING! There is no internal gating of the index signal with the encoder A and B inputs. This must be performed externally if desired. Refer to the Application Notes section at the end of this manual for an example. Hall1A Hall1B Hall1C 18 14 37 input ParallelEnable 8 input Hall sensor inputs. These signals encode 6 valid states as follows: A on, A and B on, B on, B and C on, C on, C and A on. A sensor is defined as being on when its signal is high. On power-up or after reset these signal defaults to active high interpretation, but the interpretation can be set to active low interpretation using the SetSignalSense instruction. Note: These signals should only be connected to Hall sensors that are mounted at a 120° offset. Motors with hall signals 60° apart will not work. The number of available axes determines which of these signals are valid. If these pins are not used they may be left unconnected. This signal enables/disables the parallel communication with the host. If this signal is tied high, the parallel interface is enabled. If this signal is tied low the parallel interface is disabled. Contact PMD for more information on parallel communication. WARNING! This signal should only be tied high if an external logic device that implements the parallel communication logic is included in the design. ~HostInterrupt Synch 131 21 OscFilter1 OscFilter2 11 10 output input/output When low, this signal causes an interrupt to be sent to the host processor. This pin is the synchronization signal. In the disabled mode, the pin is configured as an input and is not used. In the master mode, the pin outputs a synchronization pulse that can be used by slave nodes or other devices to synchronize with the internal chip cycle of the master node. In the slave mode, the pin is configured as an input and should be connected to the Synch pin on the master node. A pulse on the pin synchronizes the internal chip cycle to the signal provided by the master node. If this pin is not used it may be left unconnected. These signals connect to the external oscillator filter circuitry. Section 5.3 shows the required filter circuitry. MC58000 Electrical Specification – Preliminary 11/13/2003 36 CP Pin Name and number Direction Description Vcc5 58 Vssf 12 Vcc 4, 29, 42, 50, 67, 77, 86, 95, 122, 129, 141 3, 28, 41, 49, 66, 76, 85, 94, 125, 128, 140 98, 99, 100, 101, 102, 103, 104, 106 1, 2, 6, 7, 33, 36, 55, 59, 60, 62, 63, 65, 84, 90, 91, 97, 118, 119, 121, 124, 126, 135, 137, 139, 142, 144 This signal can optionally be tied to a 5V logic supply, which is required for reprogramming the chipset firmware. This signal must be tied to pin 28 using a bypass capacitor. A ceramic capacitor with a value between 0.1µF and 0.01µF should be used. CP digital supply voltage. All of these pins must be connected to the supply voltage. Vcc must be in the range 3.0 – 3.6 V. CP digital supply ground. All of these pins must be connected to the digital power supply return. These signals must be tied to AnalogGND. If the analog input circuitry is not used, these pins must be tied to GND. These signals must be left unconnected. GND AGND No connection 5.1.2 MC58110 CP chip pin assignment for multiple motor types The MC58110 chip supports outputting PWM motor commands in sign/magnitude and 50/50 modes. For stepping motors it can also output step and direction signals. The CP chip assigns pin function according to the selected output mode. If the output mode is set to PWM sign/magnitude, the following pinout should be used. PWMMag1A PWMMag1B 56 52 output PWMSign1A PWMSign1B 54 47 output These pins provide the Pulse Width Modulated signal to the motor. In PWM 50/50 mode, this is the only signal. In PWM sign-magnitude mode, this is the magnitude signal. In PWM sign-magnitude mode, these pins provide the sign (direction) of the PWM signal to the motor amplifier. If the output mode is set to PWM 5050, the following pinout should be used. PWMMag1A PWMMag1B PWMMag1C 56 52 44 output These pins provide the Pulse Width Modulated signals for each phase to the motor. If the number of phases is 2, only phase A and B are valid. If the number of phases is 3, phases A,B and C are valid. The number of phases is set using the command SetNumberPhases. In PWM 50/50 mode, these are the only signals. If the output mode is set to Step and Direction, the following pinout should be used. Pulse1 Direction1 56 54 output output AtRest1 52 output This pin provides the pulse (step) signal to the motor. These pin indicates the direction of motion and works in conjunction with the pulse signal. This signal indicates the axis is at rest and the step motor can be switched to low power or standby mode. If the output mode is set to SPI DAC, the following pinout should be used. SPIEnable1 54 output This pin provides the enable signal when SPI DAC output is active. MC58000 Electrical Specification – Preliminary 11/13/2003 37 5.2 Pinouts for the MC58420 4, 29, 42, 50, 67, 77, 86, 95, 122, 129, 141 16, 17, 40, 65, 66, 67, 90 81 8 92 100 94 77 53 54 52 41 43 50 89 24 5 91 12 10 99 98 1 11 97 95 76 74 73 75 2 3 7 6 38 36 35 32 31 HostCmd HostRdy ~HostRead ~HostWrite ~HostSlct CPInterrupt CPR/~W CPStrobe CPPeriphSlct CPAddr0 CPAddr1 CPAddr15 MasterClkIn CPClock HostMode0 HostMode1 HostData0 HostData1 HostData2 HostData3 HostData4 HostData5 HostData6 HostData7 HostData8 HostData9 HostData10 HostData11 HostData12 HostData13 HostData14 HostData15 CPData0 CPData1 CPData2 CPData3 CPData4 VCC IO GND CPData5 CPData6 CPData7 CPData8 CPData9 CPData10 CPData11 CPData12 CPData13 CPData14 CPData15 PWMMag1A PWMMag1B PWMMag1C PWMMag2A PWMMag2B PWMMag2C PWMMag3A PWMMag3B PWMMag3C PWMMag4A PWMMag4B PWMMag4C PWMSign1 PWMSign2 PWMSign3 PWMSign4 QuadA1 QuadB1 ~Index1 ~Home1 QuadA2 QuadB2 ~Index2 ~Home2 QuadA3 QuadB3 ~Index3 ~Home3 QuadA4 QuadB4 ~Index4 ~Home4 4, 9, 22, 34, 46, 57, 64, 72, 84, 96 No connection 27, 55, 56 37 42 39 18 14 71 13 70 15 69 68 21 62 23 85 87 86 20 19 63 79 78 80 61 60 59 26 47 25 49 82 48 44 93 29 33 51 83 88 30 58 28 45 133 89 93 96 92 19 120 82 87 25 26 72 70 35 30 23 123 73 80 78 74 71 68 64 61 57 53 51 48 45 43 39 34 31 127 130 132 134 136 138 143 5 9 13 15 17 20 22 24 27 ~Reset ~WriteEnable ~ReadEnable ~Strobe R/~W W/~R Ready ~PeriphSlct ~RAMSlct SrlXmt SrlRcv CANXmt/SrlEnable CANRcv SPIClock SPIXmt IOInterrupt IOClock ClockOut Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 VCC CP AnalogVcc AnalogRefHigh AnalogRefLow AnalogGnd Analog0 Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 PosLim1 PosLim2 PosLim3 PosLim4 NegLim1 NegLim2 NegLim3 NegLim4 AxisOut1 AxisOut2 AxisOut3 AxisOut4 AxisIn1 AxisIn2 AxisIn3 AxisIn4 Hall1A Hall1B Hall1C Hall2A Hall2B Hall2C Hall3A Hall3B Hall3C Hall4A Hall4B Hall4C ~HostInterrupt Synch OscFilter1 OscFilter2 Vcc5 Vssf GND 3, 28, 41, 49, 66, 76, 85, 94, 125, 128, 140 AGND 98, 99, 100, 101, 102, 103, 104, 106 No connection 1, 7, 33, 36, 60, 63, 84, 90, 91, 97, 118, 121, 124, 135, 137, 139, 142, 144 MC58000 Electrical Specification – Preliminary 11/13/2003 38 116 115 114 117 112 113 110 111 107 109 105 108 46 59 65 81 38 55 62 69 32 119 88 54 16 8 52 83 18 14 37 6 2 126 47 44 40 79 75 56 131 21 11 10 58 12 5.2.1 MC58020 IO chip pin description IO Pin Name and Number Direction Description HostCmd 81 input HostRdy 8 output ~HostRead ~HostWrite ~HostSlct 92 100 94 input input input CPInterrupt 77 output CPR/~W 53 input CPStrobe 54 input CPPeriphSlct 52 input CPAddr0 CPAddr1 CPAddr15 41 43 50 input MasterClkIn 89 input CPClock 24 output HostMode0 HostMode1 5 91 input This signal is asserted high to write a host instruction to the motion processor, or to read the status of the HostRdy and HostInterrupt signals. It is asserted low to read or write a data word. This signal is used to synchronize communication between the motion processor and the host. HostRdy (HostReady) will go low indicating host port busy at the end of a read or write operation according to the interface mode in use, as follows: Interface Mode HostRdy goes low 8/16 after the second byte of the instruction word after the second byte of each data word is transferred 16/16 after the 16-bit instruction word after each 16-bit data word HostRdy will go high, indicating that the host port is ready to transmit, when the last transmission has been processed. All host port communications must be made with HostRdy high (ready). A typical busy-to-ready cycle is 10 microseconds, but can be substantially longer, up to 50 microseconds. When ~HostRead is low, a data word is read from the motion processor. When ~HostWrite is low, a data word is written to the motion processor. When ~HostSlct is low, the host port is selected for reading or writing operations. IO chip to CP chip interrupt. It should be connected to CP chip pin 23, IOInterrupt. This signal is high when the CP chip is reading data from the IO chip, and low when it is writing data. It should be connected to CP chip pin 92, R/~W. This signal goes low when the data and address become valid during motion processor communication with peripheral devices on the data bus, such as external memory or a DAC. It should be connected to CP chip pin 96, ~Strobe. This signal goes low when a peripheral device on the data bus is being addressed. It should be connected to CP chip pin 82, ~PeriphSlct. These signals are high when the CP chip is communicating with the IO chip (as distinguished from any other device on the data bus). They should be connected to CP chip pins 80 (Addr0), 78 (Addr1), and 31 (Addr15). This is the master clock signal for the motion processor. It is driven at a nominal 40 MHz This signal provides the clock pulse for the CP chip. Its frequency is half that of MasterClkIn (pin 89), or 20 MHz nominal. It is connected directly to the CP chip IOClock signal (pin 123). These two signals determine the host communications mode, as follows: HostMode1 HostMode0 0 0 1 1 0 1 0 1 16/16 parallel (16-bit bus, 16-bit instruction) not used 8/16 parallel (8-bit bus, 16-bit instruction) Parallel disabled MC58000 Electrical Specification – Preliminary 11/13/2003 39 IO Pin Name and Number Direction Description HostData0 HostData1 HostData2 HostData3 HostData4 HostData5 HostData6 HostData7 HostData8 HostData9 HostData10 HostData11 HostData12 HostData13 HostData14 HostData15 CPData0 CPData1 CPData2 CPData3 CPData4 CPData5 CPData6 CPData7 CPData8 CPData9 CPData10 CPData11 CPData12 CPData13 CPData14 CPData15 PWMMag1A PWMMag1B PWMMag1C PWMSign1A bi-directional, tri-state These signals transmit data between the host and the motion processor through the parallel port. Transmission is mediated by the control signals ~HostSelect, ~HostWrite, ~HostRead and HostCmd. In 16-bit mode, all 16 bits are used (HostData0-15). In 8-bit mode, only the low-order 8 bits of data are used (HostData0-7). The HostMode0 and HostMode1 signals select the communication mode this port operates in. bi-directional These signals transmit data between the IO chip and pins Data0-15 of the CP chip. output These pins provide the Pulse Width Modulated signals for each phase of the motor. The PWM resolution is 10 bits at a frequency of 20.0 KHz or 80kHz, selectable via the host command SetPWMFrequency. These pins control Axis 1. 12 10 99 98 1 11 97 95 76 74 73 75 2 3 7 6 38 36 35 32 31 37 42 39 18 14 71 13 70 15 69 68 21 62 23 61 In 2 or 3-phase PWM 50/50 mode, PWMMag1A/1B/1C are the only signals and encode both the magnitude and direction in the one signal. In single-phase PWM sign/magnitude mode, PWMMag1A and PWMSign1A are the PWM magnitude and direction signals respectively. In 2-phase PWM sign/magnitude mode, PWMMag1A and PWMSign1A are the PWM magnitude and direction signals for Phase A. PWMMag1B and PWMMag1C, “PWMSign1B”, are the PWM magnitude and direction signals for Phase B. The number of available axes determines which of these signals are valid. Unused pins should be left unconnected. Refer to the User’s Guide for more information on PWM encoding schemes. MC58000 Electrical Specification – Preliminary 11/13/2003 40 IO Pin Name and Number Direction Description PWMMag2A PWMMag2B PWMMag2C PWMSign2A output These pins control Axis 2. 85 87 86 60 In 2 or 3-phase PWM 50/50 mode, PWMMag2A/2B/2C are the only signals and encode both the magnitude and direction in the one signal. In single-phase PWM sign/magnitude mode, PWMMag2A and PWMSign2 are the PWM magnitude and direction signals respectively. In 2-phase PWM sign/magnitude mode, PWMMag2A and PWMSign2A are the PWM magnitude and direction signals for Phase A. PWMMag2B and PWMMag2C, “PWMSign2B”, are the PWM magnitude and direction signals for Phase B. PWMMag3A PWMMag3B PWMMag3C PWMSign3A 20 19 63 59 output The number of available axes determines which of these signals are valid. Unused or invalid pins should be left unconnected. These pins control Axis 3. In 2 or 3-phase PWM 50/50 mode, PWMMag3A/3B/3C are the only signals and encode both the magnitude and direction in the one signal. In single-phase PWM sign/magnitude mode, PWMMag3A and PWMSign3A are the PWM magnitude and direction signals respectively. In 2-phase PWM sign/magnitude mode, PWMMag3A and PWMSign3A are the PWM magnitude and direction signals for Phase A. PWMMag3B and PWMMag3C, “PWMSign3B”, are the PWM magnitude and direction signals for Phase B. PWMMag4A PWMMag4B PWMMag4C PWMSign4A 79 78 80 26 output The number of available axes determines which of these signals are valid. Unused or invalid pins should be left unconnected. These pins control Axis 4. In 2 or 3-phase PWM 50/50 mode, PWMMag4A/4B/4C are the only signals and encode both the magnitude and direction in the one signal. In single-phase PWM sign/magnitude mode, PWMMag4A and PWMSign4A are the PWM magnitude and direction signals respectively. In 2-phase PWM sign/magnitude mode, PWMMag4A and PWMSign4A are the PWM magnitude and direction signals for Phase A. PWMMag4B and PWMMag4C, “PWMSign4B”, are the PWM magnitude and direction signals for Phase B. The number of available axes determines which of these signals are valid. Unused or invalid pins should be left unconnected. MC58000 Electrical Specification – Preliminary 11/13/2003 41 IO Pin Name and Number Direction Description SPIEnable1 SPIEnable2 SPIEnable3 SPIEnable4 21 85 20 79 output Pulse1 Pulse2 Pulse3 Pulse4 21 85 20 79 output Direction1 Direction2 Direction3 Direction4 61 60 59 26 output AtRest1 AtRest2 AtRest3 AtRest4 23 86 63 80 output QuadA1 QuadB1 QuadA2 QuadB2 QuadA3 QuadB3 QuadA4 QuadB4 47 25 48 44 33 51 30 58 input These pins provide the enable signal when SPI DAC output is active. Each enable is high when the specific DAC channel is being written to. At all other times the signals are low. There is one signal per axis. SPI output can only be used when the axis being controlled is DC brushed or when the amplifier expects a singlephase input and it performs brushless motor commutation. The number of available axes determines which of these signals are valid. Unused or invalid pins should be left unconnected. These pins provide the pulse (step) signal to the motor. This signal is always a square wave, regardless of the pulse rate. A step occurs when the signal transitions from a high state to a low state. This default behavior can be changed to a low to high state transition using the command SetSignalSense. The number of available axes determines which of these signals are valid. Invalid axis pins may be left unconnected. These pins indicate the direction of motion and work in conjunction with the pulse signal. A high level on this signal indicates a positive direction move and a low level indicates a negative direction move. The number of available axes determines which of these signals are valid. Invalid axis pins may be left unconnected. The AtRest signal indicates the axis is at rest and the step motor can be switched to low power or standby. A high level on this signal indicates the axis is at rest. A low signal indicates the axis is in motion. The number of available axes determines which of these signals are valid. Invalid axis pins may be left unconnected. These pins provide the A and B quadrature signals for the incremental encoder for each axis. When the axis is moving in the positive (forward) direction, signal A leads signal B by 90°. The theoretical maximum encoder pulse rate is 10.2 MHz. Actual maximum rate will vary, depending on signal noise. NOTE: Many encoders require a pull-up resistor on each signal to establish a proper high signal. Check your encoder’s electrical specification. The number of available axes determines which of these signals are valid. WARNING! If a valid axis pin is not used, its signal should be tied high. ~Index1 ~Index2 ~Index3 ~Index4 49 93 83 28 input Invalid axis pins may be left unconnected or connected to ground. These pins provide the Index quadrature signals for the incremental encoders. A valid index pulse is recognized by the chipset when ~Index, A, and B are all low. The number of available axes determines which of these signals are valid. WARNING! If a valid axis pin is not used, its signal should be tied high. Invalid axis pins may be left unconnected or connected to ground. MC58000 Electrical Specification – Preliminary 11/13/2003 42 IO Pin Name and Number Direction Description ~Home1 ~Home2 ~Home3 ~Home4 input These pins provide the Home signals, general-purpose inputs to the position-capture mechanism. A valid Home signal is recognized by the chipset when ~Homen goes low. These signals are similar to ~Index, but are not gated by the A and B encoder channels. The number of available axes determines which of these signals are valid. 82 29 88 45 WARNING! If a valid axis pin is not used, its signal should be tied high. Vcc GND Not connected 16, 17, 40, 65, 66, 67, 90 4, 9, 22, 34, 46, 57, 64, 72, 84, 96 27, 55, 56 Invalid axis pins may be left unconnected or connected to ground. All of these pins must be connected to the IO chip digital supply voltage, which should be in the range 3.0 to 3.6 V. IO chip ground. All of these pins must be connected to the digital power supply return. These pins must be left unconnected (floating). MC58000 Electrical Specification – Preliminary 11/13/2003 43 5.2.2 MC58020 IO chip pin assignment for multiple motor types The MC58020 chip supports outputting PWM motor commands in sign/magnitude and 50/50 modes. For stepping motors it can also output step and direction signals. The IO chip assigns pin function according to the selected output mode. For axis 1 of the chipset: If the output mode is set to PWM sign/magnitude, the following pinout should be used. PWMMag1A PWMMag1B 21 62 output PWMSign1A PWMSign1B 61 23 output These pins provide the Pulse Width Modulated signal to the motor. In PWM 50/50 mode, this is the only signal. In PWM sign-magnitude mode, this is the magnitude signal. In PWM sign-magnitude mode, these pins provide the sign (direction) of the PWM signal to the motor amplifier. If the output mode is set to PWM 5050, the following pinout should be used. PWMMag1A PWMMag1B PWMMag1C 21 62 23 output These pins provide the Pulse Width Modulated signals for each phase to the motor. If the number of phases is 2, only phase A and B are valid. If the number of phases is 3, phases A,B and C are valid. The number of phases is set using the Motion processor command SetNumberPhases. In PWM 50/50 mode, these are the only signals. If the output mode is set to Step and Direction, the following pinout should be used. Pulse1 Direction1 21 61 output output AtRest1 23 output This pin provides the pulse (step) signal to the motor. These pin indicates the direction of motion and works in conjunction with the pulse signal. This signal indicates the axis is at rest and the step motor can be switched to low power or standby. For axis 2 of the chipset: If the output mode is set to PWM sign/magnitude, the following pinout should be used. PWMMag2A PWMMag2B 85 87 output PWMSign2A PWMSign2B 60 86 output These pins provide the Pulse Width Modulated signal to the motor. In PWM 50/50 mode, this is the only signal. In PWM sign-magnitude mode, this is the magnitude signal. In PWM sign-magnitude mode, these pins provide the sign (direction) of the PWM signal to the motor amplifier. If the output mode is set to PWM 5050, the following pinout should be used. PWMMag2A PWMMag2B PWMMag2C 85 87 86 output These pins provide the Pulse Width Modulated signals for each phase to the motor. If the number of phases is 2, only phase A and B are valid. If the number of phases is 3, phases A,B and C are valid. The number of phases is set using the Motion processor command SetNumberPhases. In PWM 50/50 mode, these are the only signals. If the output mode is set to Step and Direction, the following pinout should be used. Pulse2 Direction2 85 60 output output AtRest2 86 output This pin provides the pulse (step) signal to the motor. These pin indicates the direction of motion and works in conjunction with the pulse signal. This signal indicates the axis is at rest and the step motor can be switched to low power or standby. MC58000 Electrical Specification – Preliminary 11/13/2003 44 For axis 3 of the chipset: If the output mode is set to PWM sign/magnitude, the following pinout should be used. PWMMag3A PWMMag3B 20 19 output PWMSign3A PWMSign3B 59 63 output These pins provide the Pulse Width Modulated signal to the motor. In PWM 50/50 mode, this is the only signal. In PWM sign-magnitude mode, this is the magnitude signal. In PWM sign-magnitude mode, these pins provide the sign (direction) of the PWM signal to the motor amplifier. If the output mode is set to PWM 5050, the following pinout should be used. PWMMag3A PWMMag3B PWMMag3C 20 19 63 output These pins provide the Pulse Width Modulated signals for each phase to the motor. If the number of phases is 2, only phase A and B are valid. If the number of phases is 3, phases A,B and C are valid. The number of phases is set using the Motion processor command SetNumberPhases. In PWM 50/50 mode, these are the only signals. If the output mode is set to Step and Direction, the following pinout should be used. Pulse3 Direction3 20 59 output output AtRest3 63 output This pin provides the pulse (step) signal to the motor. These pin indicates the direction of motion and works in conjunction with the pulse signal. This signal indicates the axis is at rest and the step motor can be switched to low power or standby. For axis 4 of the chipset: If the output mode is set to PWM sign/magnitude, the following pinout should be used. PWMMag4A PWMMag4B 79 78 output PWMSign4A PWMSign4B 26 80 output These pins provide the Pulse Width Modulated signal to the motor. In PWM 50/50 mode, this is the only signal. In PWM sign-magnitude mode, this is the magnitude signal. In PWM sign-magnitude mode, these pins provide the sign (direction) of the PWM signal to the motor amplifier. If the output mode is set to PWM 5050, the following pinout should be used. PWMMag4A PWMMag4B PWMMag4C 79 78 80 output These pins provide the Pulse Width Modulated signals for each phase to the motor. If the number of phases is 2, only phase A and B are valid. If the number of phases is 3, phases A,B and C are valid. The number of phases is set using the Motion processor command SetNumberPhases. In PWM 50/50 mode, these are the only signals. If the output mode is set to Step and Direction, the following pinout should be used. Pulse4 Direction4 79 26 output output AtRest4 80 output This pin provides the pulse (step) signal to the motor. These pin indicates the direction of motion and works in conjunction with the pulse signal. This signal indicates the axis is at rest and the step motor can be switched to low power or standby. Any unused pins may be left unconnected (floating). MC58000 Electrical Specification – Preliminary 11/13/2003 45 5.2.3 MC58020 CP chip pin description CP Pin Name and number Direction Description ~Reset 133 input ~WriteEnable 89 output ~ReadEnable 93 output ~Strobe 96 output R/~W 92 output W/~R 19 output Ready 120 input ~PeriphSlct 82 output ~RAMSlct SrlXmt SrlRcv CANXmt SrlEnable 87 25 26 72 output output input output CANRcv SPIClock 70 35 output output SPIXmt IOInterrupt 30 23 output input IOClock 123 input ClockOut 73 output This is the master reset signal. When brought low, this pin resets the chipset to its initial conditions. This signal is the write-enable strobe. When low, this signal indicates that data is being written to the bus. This signal is the read-enable strobe. When low, this signal indicates that data is being read from the bus. This signal is low when the data and address are valid during CP communications. It should be connected to IO chip pin 54, CPStrobe. This signal is high when the CP chip is performing a read, and low when it is performing a write. It should be connected to IO chip pin 53, CPR/~W. This signal is the inverse of R/~W; it is high when R/~W is low, and vice versa. For some decode circuits and devices this is more convenient than R/~W. Ready can be pulled low to add wait states for external accesses. Ready indicates that an external device is prepared for a bus transaction to be completed. If the device is not ready, it pulls the Ready pin low. The motion processor then waits one cycle and checks Ready again. This signal can be left unconnected if it is not used. This signal is low when peripheral devices on the data bus are being addressed. It should be connected to IO chip pin 52, CPPeriphSlct. This signal is low when external memory is being accessed. This pin outputs serial data from the asynchronous serial port. This pin inputs serial data to the asynchronous serial port. When the CAN host interface is used, this pin transmits serial data to the CAN transceiver. When the multi-drop serial interface is used, this pin sets the serial port enable line and the CANXmt function is not available. SrlEnable is high during transmission for the multi-drop protocol and low at all other times. This pin receives serial data from the CAN transceiver. This pin is the clock signal used for strobing synchronous serial data to the serial DAC(s). This signal is only active when SPI data is being transmitted. This pin transmits synchronous serial data to the serial DAC(s). This interrupt signal is used for IO to CP communication. It should be connected to IO chip pin 77, CPInterrupt. This is the CP chip clock signal. It should be connected to IO chip pin 24, CPClock. This signal is the reference output clock. Its frequency is the same as the MasterClkIn signal to the IO chip, nominally 40MHz. MC58000 Electrical Specification – Preliminary 11/13/2003 46 CP Pin Name and number Direction Description Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 AnalogVcc output Multi-purpose Address lines. These pins comprise the CP chip’s external address bus, used to select devices for communication over the data bus. Addr0, Addr1, and Addr15 are connected to the corresponding CPAddr pins on the IO chip, and are used to communicate between the CP and IO chips. Other address pins may be used for DAC output, parallel word input, or userdefined I/O operations. See the User’s Guide for a complete memory map. bi-directional Multi-purpose data lines. These pins comprise the CP chip’s external data bus, used for all communications with the IO chip and peripheral devices such as external memory or DACs. They may also be used for parallel-word input and for user-defined I/O operations. input Analog input Vcc. This pin should be connected to the analog input supply voltage, which must be in the range 3.0-3.6 V. If the analog input circuitry is not used, this pin should be tied to Vcc. Analog high voltage reference for A/D input. The allowed range is AnalogRefLow to AnalogVcc. If the analog input circuitry is not used, this pin should be tied to Vcc. Analog low voltage reference for A/D input. The allowed range is AnalogGND to AnalogRefHigh. If the analog input circuitry is not used, this pin should be tied to GND. Analog input ground. This pin should be connected to the analog input power supply return. If the analog input circuitry is not used, this pin should be tied to GND. These signals provide general-purpose analog voltage levels which are sampled by an internal A/D converter. The A/D resolution is 10 bits. The allowed signal input range is AnalogRefLow to AnalogRefHigh. 80 78 74 71 68 64 61 57 53 51 48 45 43 39 34 31 127 130 132 134 136 138 143 5 9 13 15 17 20 22 24 27 116 AnalogRefHigh 115 input AnalogRefLow 114 input AnalogGND 117 input Analog0 Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 112 113 110 111 107 109 105 108 input Any unused pins should be tied to AnalogGND. If the analog input circuitry is not used, these pins should be tied to GND. MC58000 Electrical Specification – Preliminary 11/13/2003 47 CP Pin Name and number Direction Description PosLim1 PosLim2 PosLim3 PosLim4 46 59 65 81 input NegLim1 NegLim2 NegLim3 NegLim4 38 55 62 69 input AxisOut1 AxisOut2 AxisOut3 AxisOut4 32 119 88 54 output AxisIn1 AxisIn2 AxisIn3 AxisIn4 Hall1A Hall1B Hall1C Hall2A Hall2B Hall2C Hall3A Hall3B Hall3C Hall4A Hall4B Hall4C ~HostInterrupt Synch 16 8 52 83 18 14 37 6 2 126 47 44 40 79 75 56 131 21 input These signals provide inputs from the positive-side (forward) travel limit switches. On power-up or after reset these signals default to active low interpretation, but the interpretation can be set explicitly using the SetSignalSense instruction. The number of available axes determines which of these signals are valid. Invalid or unused pins may be left unconnected. These signals provide inputs from the negative-side (reverse) travel limit switches. On power-up or after reset these signals default to active low interpretation, but the interpretation can be set explicitly using the SetSignalSense instruction. The number of available axes determines which of these signals are valid. Invalid or unused pins may be left unconnected. Each of these pins can be conditioned to track the state of any bit in the Status registers associated with its axis. The number of available axes determines which of these signals are valid. Invalid or unused pins may be left unconnected. These are general-purpose inputs that can also be used as a breakpoint input. The number of available axes determines which of these signals are valid. Invalid or unused pins may be left unconnected. OscFilter1 OscFilter2 11 10 Vcc5 58 Vssf 12 Vcc 4, 29, 42, 50, 67, 77, 86, 95, 122, 129, 141 3, 28, 41, 49, 66, 76, 85, 94, 125, 128, 140 98, 99, 100, 101, 102, 103, 104, 106 GND AGND input Hall sensor inputs. Each set (A, B, and C) of signals encodes 6 valid states as follows: A on, A and B on, B on, B and C on, C on, C and A on. A sensor is defined as being on when its signal is high. Note: These signals should only be connected to Hall sensors that are mounted at a 120° offset. Motors with hall signals 60° apart will not work. The number of available axes determines which of these signals are valid. Invalid or unused pins may be left unconnected. output input/output When low, this signal causes an interrupt to be sent to the host processor. This pin is the synchronization signal. In the disabled mode, the pin is configured as an input and is not used. In the master mode, the pin outputs a synchronization pulse that can be used by slave nodes or other devices to synchronize with the internal chip cycle of the master node. In the slave mode, the pin is configured as an input and should be connected to the Synch pin on the master node. A pulse on the pin synchronizes the internal chip cycle to the signal provided by the master node. If this pin is not used it may be left unconnected. These signals connect to the external oscillator filter circuitry. Section 5.3 shows the required filter circuitry. This signal can optionally be tied to a 5V logic supply, which is required for reprogramming the chipset firmware. This signal must be tied to pin 28 using a bypass capacitor. A ceramic capacitor with a value between 0.1µF and 0.01µF should be used. CP digital supply voltage. All of these pins must be connected to the supply voltage. Vcc must be in the range 3.0 – 3.6 V. CP digital supply ground. All of these pins must be connected to the digital power supply return. These signals must be tied to AnalogGND. If the analog input circuitry is not used, these pins must be tied to GND. MC58000 Electrical Specification – Preliminary 11/13/2003 48 CP Pin Name and number Direction No connection Description 1, 7, 33, 36, 60, 63, 84, These signals must be left unconnected. 90, 91, 97, 118, 121, 124, 135, 137, 139, 142, 144 MC58000 Electrical Specification – Preliminary 11/13/2003 49 5.3 External oscillator filter The following circuit shows the recommended configuration and suggested values for the filter that must be connected to the OscFilter1 and OscFilter2 pins of the CP chip. The resistor tolerance is ±5% and the capacitor tolerance is ±20%. OscFilter1 R1 24ohm C2 .0033uF C1 .15uF OscFilter2 MC58000 Electrical Specification – Preliminary 11/13/2003 50