ETC MC2800

Navigator™ Motion
Processor
MC2800 Series
Technical Specifications
Multiple Motor Type
for Brushed Servo and Brushless Servo Motion Control
Performance Motion Devices, Inc.
55 Old Bedford Road
Lincoln, MA 01773
Revision 1.8, October 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 1998, 1999, 2000 by Performance Motion Devices, Inc.
Navigator 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.
MC2800 Technical Specifications
iii
MC2800 Technical Specifications
iv
Related Documents
Navigator Motion Processor User’s Guide (MC2000UG)
How to set up and use all members of the Navigator Motion Processor family.
Navigator Motion Processor Programmer’s Reference (MC2000PR)
Descriptions of all Navigator Motion Processor commands, with coding syntax and examples,
listed alphabetically for quick reference.
Navigator Motion Processor Technical Specifications
Five booklets containing physical and electrical characteristics, timing diagrams, pinouts, and pin
descriptions of each series:
MC2100 Series, for brushed servo motion control (MC2100TS);
MC2300 Series, for brushless servo motion control (MC2300TS);
MC2400 Series, for microstepping motion control (MC2400TS);
MC2500 Series, for stepping motion control (MC2500TS);
MC2800 Series, for brushed servo and brushless servo motion control (MC2800TS).
Navigator Motion Processor Developer’s Kit Manual (DK2000M)
How to install and configure the DK2000 developer’s kit PC board.
MC2800 Technical Specifications
v
MC2800 Technical Specifications
vi
Table of Contents
Warranty...................................................................................................................................................... iii
Safety Notice ................................................................................................................................................ iii
Disclaimer..................................................................................................................................................... iii
Related Documents....................................................................................................................................... v
Table of Contents........................................................................................................................................ vii
1 The Navigator Family ............................................................................................................................... 9
2 Functional Characteristics...................................................................................................................... 11
2.1
Configurations, parameters, and performance .............................................................................. 11
2.2
Physical characteristics and mounting dimensions....................................................................... 13
2.2.1
CP chip ................................................................................................................................. 13
2.2.2
I/O chip ................................................................................................................................. 14
2.3
Environmental and electrical ratings ............................................................................................ 15
2.4
System configuration .................................................................................................................... 15
2.5
Peripheral device address mapping............................................................................................... 16
3 Electrical Characteristics........................................................................................................................ 17
3.1
DC characteristics......................................................................................................................... 17
3.2
AC characteristics......................................................................................................................... 17
4 I/O Timing Diagrams .............................................................................................................................. 19
4.1
Clock ............................................................................................................................................ 19
4.2
Quadrature encoder input ............................................................................................................. 19
4.3
Reset ............................................................................................................................................. 19
4.4
Host interface, 8/8 mode............................................................................................................... 20
4.4.1
Instruction write, 8/8 mode................................................................................................... 20
4.4.2
Data write, 8/8 mode ............................................................................................................ 20
4.4.3
Data read, 8/8 mode.............................................................................................................. 21
4.4.4
Status read, 8/8 mode............................................................................................................ 21
4.5
Host interface, 8/16 mode............................................................................................................. 22
4.5.1
Instruction write, 8/16 mode................................................................................................. 22
4.5.2
Data write, 8/16 mode........................................................................................................... 22
4.5.3
Data read, 8/16 mode............................................................................................................ 23
4.5.4
Status read, 8/16 mode.......................................................................................................... 23
4.6
Host interface, 16/16 mode........................................................................................................... 24
4.6.1
Instruction write, 16/16 mode............................................................................................... 24
4.6.2
Data write, 16/16 mode......................................................................................................... 24
4.6.3
Data read, 16/16 mode.......................................................................................................... 25
4.6.4
Status read, 16/16 mode........................................................................................................ 25
4.7
External memory timing ............................................................................................................... 26
4.7.1
External memory read........................................................................................................... 26
4.7.2
External memory write ......................................................................................................... 26
4.8
Peripheral device timing ............................................................................................................... 27
4.8.1
Peripheral device read........................................................................................................... 27
4.8.2
Peripheral device write ......................................................................................................... 27
MC2800 Technical Specifications
vii
5 Pinouts and Pin Descriptions.................................................................................................................. 28
5.1
Pinouts for MC2840 ..................................................................................................................... 28
5.2
Pinouts for MC2820 ..................................................................................................................... 29
5.3
Pin description tables.................................................................................................................... 30
5.3.1
I/O chip ................................................................................................................................. 30
5.3.2
Output pin configuration for multiple motor types ............................................................... 34
5.3.3
CP chip ................................................................................................................................. 36
6 Application Notes..................................................................................................................................... 40
6.1
Design Tips................................................................................................................................... 40
6.2
ISA Bus Interface ......................................................................................................................... 42
6.3
RS-232 Serial Interface ................................................................................................................ 44
6.4
RS 422/485 Serial Interface.......................................................................................................... 46
6.5
3 Phase PWM Motor Interface ..................................................................................................... 48
6.6
Single Phase PWM Motor Interface ............................................................................................. 50
6.7
12-bit Parallel DAC Interface ....................................................................................................... 52
6.8
16-bit Serial DAC Interface.......................................................................................................... 54
6.9
12-bit A/D Interface...................................................................................................................... 56
6.10 16-bit A/D Input ........................................................................................................................... 58
6.11 RAM Interface.............................................................................................................................. 60
6.12 User-defined I/O ........................................................................................................................... 62
MC2800 Technical Specifications
viii
1 The Navigator Family
# of axes
MC2100
Series
MC2300
Series
MC2400
Series
MC2500
Series
MC2800
Series
4, 2, or 1
4, 2 or 1
Brushless
servo
4, 2 or 1
4, 2, or 1
Stepping
Stepping
4 or 2
Brushed servo
+ brushless servo
Brushed servo
(single phase)
+ commutated
(6-step sinusoidal)
Motor type supported
Brushed servo
Output format
Brushed servo
(single phase)
Commutated
(6-step or
sinusoidal)
Microstepping
Pulse and
direction
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
-
√
√
√
√
√
Motion error detection
√
√
Axis settled indicator
√
√
√ (with
encoder)
√ (with
encoder)
√ (with
encoder)
√ (with
encoder)
DAC-compatible output
Pulse & direction output
Index & Home signals
Position capture
Analog input
User-defined I/O
External RAM support
Multi-chip
synchronization
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√ (21x3)
√ (23x3)
√ (24x3)
MC2140
(4 axes)
MC2120
(2 axes)
MC2110
(1 axis)
DK2100
MC2340
(4 axes)
MC2320
(2 axes)
MC2310
(1 axis)
DK2300
MC2440
(4 axes)
MC2420
(2 axes)
MC2410
(1 axis)
DK2400
Incremental encoder
input
Parallel word device input
Parallel communication
Serial communication
Diagnostic port
S-curve profiling
Electronic gearing
On-the-fly changes
Directional limit switches
Programmable bit output
Software-invertable
signals
PID servo control
Feedforward (accel & vel)
Derivative sampling time
Data trace/diagnostics
PWM output
Chipset part numbers
Developer's Kit p/n's:
MC2800 Technical Specifications
9
√
√
√
√
√
√
√
√
√ (28x3)
MC2540
(4 axes)
MC2520
(2 axes)
MC2510
(1 axis)
DK2500
MC2840
(4 axes)
MC2820
(2 axes)
DK2800
Introduction
This manual describes the operational characteristics of the MC2840 and MC2820 Motion
Processors from PMD. These devices are members of PMD’s second-generation motion processor
family, which consists of 14 separate products organized into 5 series.
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 chipset may be re-used with another, even though the type of motor may be
different.
Each chipset consists of two PQFP (Plastic Quad Flat Pack) ICs: a 100-pin Input/Output (I/O)
chip, and a 132-pin Command Processor (CP) chip.
Four of the series in the Navigator family are designed for a particular type of motor or control
scheme. The fifth allows the user to control 2 servo motor types (brushed and brushless). Here is a
summary description of each series.
Family Summary
MC2100 Series (MC2140, MC2120, MC2110) – This series outputs motor commands in either
Sign/Magnitude PWM or DAC-compatible format for use with brushed servo motors, or with
brushless servo motors having external commutation.
MC2300 Series (MC2340, MC2320, MC2310) – This series outputs sinusoidally or 6-step
commutated motor signals appropriate for driving brushless motors. Depending on the motor type,
the output is a two-phase or three-phase signal in either PWM or DAC-compatible format.
MC2400 Series (MC2440, MC2420, MC2410) – This series provides microstepping signals for
stepping motors. Two phased signals per axis are generated in either PWM or DAC-compatible
format.
MC2500 Series (MC2540, MC2520, MC2510) – These chipsets provide high-speed pulse and
direction signals for stepping motor systems.
MC2800 Series (MC2840, MC2820) – This series outputs sinusoidally or 6-step commutated motor
signals appropriate for driving brushless servo motors as well as PWM or DAC- compatible outputs
for driving brushed servo motors.
MC2800 Technical Specifications
10
2 Functional Characteristics
2.1
Configurations, parameters, and performance
Available configurations
Operating modes
Communication modes
Serial port baud rate range
Position range
Velocity range
Acceleration/deceleration
ranges
Jerk range
Profile modes
Electronic gear ratio range
Filter modes
Filter parameter resolution
Position error tracking
Motor output modes
Commutation rate
Maximum encoder rate
Parallel encoder word size
Parallel encoder read rate
Hall sensor inputs
Servo loop timing range
4 axes (MC2840) or 2 axes (MC2820)
Closed loop (motor command is driven from output of servo filter)
Open loop (motor command is driven from user-programmed register)
8/8 parallel (8 bit external parallel bus with 8 bit internal command word size)
8/16 parallel (8 bit external parallel bus with 16 bit internal command word size)
16/16 parallel (16 bit external parallel bus with 16 bit internal command word
size)
Point to point asynchronous serial
Multidrop asynchronous serial
1,200 baud to 416,667 baud
-2,147,483,648 to +2,147,483,647 counts
-32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample
-32,768 to +32,767 counts/sample2 with a resolution of 1/65,536 counts/sample2
0 to ½ counts/sample3, with a resolution of 1/4,294,967,296 counts/sample3
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)
-32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction)
Scalable PID + Velocity feedforward + Acceleration feedforward + Bias. Also
includes integration limit, settable derivative sampling time, and output motor
command limiting
16 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)
DAC (16 bits)
20kHz for MC2820, 10kHz for MC2840
Incremental (up to 5 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)
153.6 µsec to 32.767 milliseconds
MC2800 Technical Specifications
11
Minimum servo loop time
153.6 µsec per enabled axis
Multi-chip synchronization
<10µsec difference between master and slave servo cycle
MC28x3 chipset only
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
152
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
Max. number of trace variables
Number of traceable variables
Number of host instructions
MC2800 Technical Specifications
12
2.2
Physical characteristics and mounting dimensions
2.2.1
CP chip
All dimensions are in inches (with millimeters in brackets).
Dimension
Minimum
(inches)
D
D1
D2
D3
1.070
0.934
1.088
Maximum
(inches)
1.090
0.966
1.112
0.800 nominal
MC2800 Technical Specifications
13
2.2.2
I/O chip
All dimensions are in millimeters.
Dimension
A
A1
A2
b
c
D
D1
E
E1
e
L
ccc
theta
Minimum
(mm)
Nominal
(mm)
0.25
2.55
0.22
0.13
22.95
19.90
16.95
13.90
0.33
2.80
Maximum
(mm)
3.40
0.73
0°
23.20
20.00
17.20
14.00
0.65 BSC
0.88
3.05
0.38
0.23
23.45
20.10
17.45
14.01
1.03
0.10
7°
MC2800 Technical Specifications
14
2.3
Environmental and electrical ratings
All ratings and ranges are for both the I/O and CP chips.
Storage Temperature (Ts)
-55 °C to 150 °C
Operating Temperature (Ta)
Power Dissipation (Pd)
0 °C to 70 °C*
600 mW (I/O and CP combined)
Nominal Clock Frequency (Fclk)
40.0 MHz
Supply Voltage limits (Vcc)
-0.3V to +7.0V
Supply Voltage operating range (Vcc)
4.75V to 5.25V
* An industrial version with an operating range of -40°C to 85°C is also available. Please contact
PMD for more information.
System configuration
The following figure shows the principal control and data paths in an MC2800 system.
Host
Serial-port
host
HostCmd
Serial port
(alternatives)
Analog inputs
Positive
16-bit data bus
Negative
CP
AxisOut
PWM output
Home
Index
I/O
B
Navigator Motion Processor
20MHz clock
Hall sensors
(MC2300 only)
Navigator Motion Processor
System clock
(40 MHz)
AxisIn
~HostRead
HostRdy
~HostWrite
Parallel port
~HostSlct
HostData0-15
HostIntrpt
A
2.4
Limit
switches
Encoder
Motor amplifier
D/A
converter
DAC output
External memory
Parallel-word input
User I/O
Serial port configuration
Other user devices
The CP chip contains the profile generator, which calculates velocity, acceleration, and position
values for a trajectory; and the digital servo filter, which stabilizes the motor output signal. The filter
produces one of two types of output:
•
a Pulse-Width Modulated (PWM) signal output which passes via the data bus to the I/O
chip, where the output signal generator sends it to the motor amplifiers; or
MC2800 Technical Specifications
15
• a DAC-compatible value routed via the data bus to the appropriate D/A converter.
Axis position information returns to the motion processor through the I/O chip, in the form of
encoder feedback, or through the CP chip, in the form of parallel-word feedback.
2.5
Peripheral device address mapping
Device addresses on the CP chip’s data bus are memory-mapped to the following locations:
Address
0200h
Device
Serial port data
Description
Contains the configuration data (transmission rate,
parity, stop bits, etc) for the asynchronous serial port
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
I/O chip
Base address for I/O chip communications
MC2800 Technical Specifications
16
3 Electrical Characteristics
3.1
DC characteristics
(Vcc and Ta per operating ratings, Fclk = 40.0 MHz)
Symbol
Vcc
Idd
Parameter
Supply Voltage
Supply Current
Vih
Vil
Vihreset
Input Voltages
Logic 1 input voltage
2.0 V
Logic 0 input voltage
-0.3 V
Logic 1 voltage for reset pin (reset) 2.2 V
Voh
Logic 1 Output Voltage
Vol
Logic 0 Output Voltage
Minimum
4.75 V
Maximum
5.25 V
120 mA
Conditions
open outputs
Vcc + 0.3 V
0.8 V
Vcc + 0.3 V
Output Voltages
2.4 V
0.33 V
@CP Io = -23 mA
@I/O Io = -6 mA
@CP Io = 6 mA
@I/O Io = 6 mA
Other
Iout
Tri-State output leakage current
-5 µA
5 µA
Iin
Input current
-10 µA
-10 µA
10 µA
-10 µA
Cio
Input/Output capacitance
15 pF
10 pF
Zai
Ednl
Einl
3.2
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.
@CP
0 < Vout < Vcc
@CP
@I/O
0 < Vi < Vcc
@CP typical
@I/O
9kΩ
1.5 LSB
+/-1.5 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
> 0 MHz
10 nsec
25 nsec
150 nsec
75 nsec
MC2800 Technical Specifications
17
Maximum
40 MHz (note 1)
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
Address Setup Delay Time
Data Access Time
Data Hold Time
Address Setup Delay Time
Address Setup to WriteEnable High
RAMSlct Low to WriteEnable High
Address Hold Time
WriteEnable Pulse Width
Data Setup Time
Data Setup before Write High Time
Address Setup Delay Time
Data Access Time
Data Hold Time
Address Setup Delay Time
Address Setup to WriteEnable High
PeriphSlct Low to WriteEnable High
Address Hold Time
WriteEnable Pulse Width
Data Setup Time
Data Setup before Write High Time
Read to Write Delay Time
Reset Low Pulse Width
RAMSlct Low to Strobe Low
Strobe High to RAMSlct High
WriteEnable Low to Strobe Low
Strobe High to WriteEnable High
PeriphSlct Low to Strobe Low
Strobe High to PeriphSlct High
Device Ready/ Outputs Initialized
Tn
T5
Minimum
0 nsec
T6
T7
T8
T9
T10
T11
T12
T13
T14
T15
T16
T17
T18
T19
T20
T21
T22
T23
T24
T25
T26
T27
T28
T29
T30
T31
T32
T33
T34
T35
T36
T37
T38
T39
T40
T50
T51
T52
T53
T54
T55
T56
T57
0 nsec
0 nsec
0 nsec
0 nsec
100 nsec
70 nsec
Maximum
25 nsec
10 nsec
20 nsec
150 nsec
25 nsec
0 nsec
60 nsec
60 nsec
70 nsec
7 nsec
19 nsec
2 nsec
7 nsec
72 nsec
79 nsec
17 nsec
39 nsec
3 nsec
42 nsec
7 nsec
71 nsec
2 nsec
7 nsec
122 nsec
129 nsec
17 nsec
89 nsec
3 nsec
92 nsec
50 nsec
5.0 µsec
1 nsec
4 nsec
1 nsec
3 nsec
1 nsec
4 nsec
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 refer to section 6.1.
Note 2 For 8/8 and 8/16 interface modes only.
Note 3 The clock low/high split has an allowable range of 45-55%.
MC2800 Technical Specifications
18
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
~Index
T5
T5
Index
(= ~QuadA * ~QuadB * ~Index)
4.3
Reset
Vcc
I/OClk
~RESET
T50
MC2800 Technical Specifications
19
T57
4.4
Host interface, 8/8 mode
4.4.1
Instruction write, 8/8 mode
T7
T6
~HostSlct
HostCmd
T8
T9
T14
~HostWrite
T16
HostData0-7
HostRdy
T15
T13
4.4.2
Data write, 8/8 mode
T7
T6
see note
~HostSlct
T8
T9
see note
HostCmd
T18
T14
T14
~HostWrite
T16
HostData0-7
HostRdy
T16
Low byte
High byte
T15
T15
T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this
point.
MC2800 Technical Specifications
20
4.4.3
Data read, 8/8 mode
T7
T6
see
note
~HostSlct
T9
see
note
T8
HostCmd
T17
T19
~HostRead
T12
High
byte
High-Z
HostData0-7
T10
High-Z
Low byte
High-Z
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, 8/8 mode
T7
T6
T8
T9
~HostSlct
HostCmd
T14
~HostRead
T12
HostData0-7
High-Z
High-Z
T10
T11
MC2800 Technical Specifications
21
4.5
Host interface, 8/16 mode
4.5.1
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
HostRdy
Low byte
T15
T15
T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
4.5.2
Data write, 8/16 mode
~HostSlct
HostCmd
~HostWrite
T7
T6
see note
T8
T9
see note
T18
T14
T14
T16
HostData0-7
HostRdy
T16
High byte
Low byte
T15
T15
T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this
point.
MC2800 Technical Specifications
22
4.5.3
Data read, 8/16 mode
T7
T6
~HostSlct
HostCmd
see note
T8
T9
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.
4.5.4
Status read, 8/16 mode
T7
~HostSlct
HostCmd
T6
T9
T8
T17
~HostRead
T19
T12
HostData0-7
High-Z
High-Z
High
byte
T10
T11
MC2800 Technical Specifications
23
Low byte
High-Z
4.6
Host interface, 16/16 mode
4.6.1
Instruction write, 16/16 mode
~HostSlct
T7
T6
HostCmd
T8
T9
T14
~HostWrite
T16
HostData0-15
HostRdy
T15
T13
4.6.2
Data write, 16/16 mode
T7
T6
~HostSlct
T9
T8
HostCmd
T14
~HostWrite
T16
HostData0-15
HostRdy
T15
T13
MC2800 Technical Specifications
24
4.6.3
Data read, 16/16 mode
T6
T7
~HostSlct
HostCmd
T8
T9
~HostRead
T19
T12
High-Z
High-Z
HostData0-15
T10
T11
HostRdy
T13
4.6.4
Status read, 16/16 mode
T7
T6
T8
T9
~HostSlct
HostCmd
T19
~HostRead
T12
HostData0-15
High-Z
High-Z
T10
T11
MC2800 Technical Specifications
25
4.7
External memory timing
4.7.1
External memory read
Note: PMD recommends using memory with an access time no greater than 15 nsec.
T20
T40
~RAMSlct
Addr0-Addr15
W/~R
~WriteEnbl
T21
Data0-Data15
T51
T52
~Strobe
4.7.2
External memory write
~RAMSlct
T23
T24
Addr0-Addr15
T25
T26
R/~W
W/~R
T29
~WriteEnbl
T28
T27
T27
Data0-Data15
T53
~Strobe
MC2800 Technical Specifications
26
T54
4.8
Peripheral device timing
4.8.1
Peripheral device read
T30
T40
~PeriphSlct
Addr0-Addr15
T31
W/~R
~WriteEnbl
T31
Data0-Data15
T55
T32
T56
~Strobe
4.8.2
Peripheral device write
~PeriphSlct
T33
T34
Addr0-Addr15
T35
T36
R/~W
W/~R
T39
~WriteEnbl
T38
T37
T37
Data0-Data15
T53
~Strobe
MC2800 Technical Specifications
27
T54
5 Pinouts and Pin Descriptions
5.1
Pinouts for MC2840
2, 7, 13, 21, 35, 36, 40, 47, 50,
52, 60, 62, 93, 103, 121
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
CPIntrpt
CPR/~W
CPStrobe
CPPeriphSlct
CPAddr0
CPAddr1
CPAddr15
MasterClkIn
CPClk
HostMode0
HostMode1
HostData0
HostData1
HostData2
HostData3
HostData4
HostData5
HostData6
HostData7
HostData8
HostData9
HostData10
HostData11
HostData12
HostData13
HostData14
HostData15
CPData0
CPData1
CPData2
CPData3
CPData4
VCC
I/O
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
GND
4, 9, 22, 34, 46, 57, 64, 72, 84, 96
Unassigned
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
1
4
6
130
129
41
132
43
44
99
98
53
58
110
111
112
114
115
116
117
118
119
122
123
124
125
126
127
128
9
10
11
12
15
16
17
18
19
22
23
24
25
26
27
28
~WriteEnbl
R/~W
~Strobe
~PeriphSlct
~RAMSlct
~Reset
W/~R
SrlRcv
SrlXmt
SrlEnable
~HostIntrpt
I/OIntrpt
I/OClk
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
Analog1
Analog2
Analog3
Analog4
Analog5
Analog6
Analog7
Analog8
PosLim1
PosLim2
PosLim3/Synch
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
NC/PoslLim3
GND
3, 8, 14, 20, 29, 37, 46, 56, 59,
61, 71, 92, 104, 113, 120
Unassigned
5, 30-34, 38, 39, 42, 48,
57, 131
AGND
78-81
MC2800 Technical Specifications
28
84
85
86
87
74
89
75
88
76
83
77
82
63
65
54
49
64
66
55
51
94
95
96
97
72
100
106
67
73
90
91
101
102
105
107
108
109
68
69
70
45
5.2
Pinouts for MC2820
2, 7, 13, 21, 35, 36, 40, 47, 50,
52, 60, 62, 93, 103, 121
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
CPIntrpt
CPR/~W
CPStrobe
CPPeriphSlct
CPAddr0
CPAddr1
CPAddr15
MasterClkIn
CPClk
HostMode0
HostMode1
HostData0
HostData1
HostData2
HostData3
HostData4
HostData5
HostData6
HostData7
HostData8
HostData9
HostData10
HostData11
HostData12
HostData13
HostData14
HostData15
CPData0
CPData1
CPData2
CPData3
CPData4
VCC
I/O
CPData5
CPData6
CPData7
CPData8
CPData9
CPData10
CPData11
CPData12
CPData13
CPData14
CPData15
PWMMag1A
PWMMag1B
PWMMag1C
PWMMag2A
PWMMag2B
PWMMag2C
PWMSign1
PWMSign2
QuadA1
QuadB1
~Index1
~Home1
QuadA2
QuadB2
~Index2
~Home2
GND
4, 9, 22, 34, 46, 57, 64, 72, 84, 96
Unassigned
19, 20, 26, 27, 28, 30, 33, 45, 51,
55, 56, 58, 59, 63, 78-80, 83, 88
37
42
39
18
14
71
13
70
15
69
68
21
62
23
85
87
86
61
60
47
25
49
82
48
44
93
29
1
4
6
130
129
41
132
43
44
99
98
53
58
110
111
112
114
115
116
117
118
119
122
123
124
125
126
127
128
9
10
11
12
15
16
17
18
19
22
23
24
25
26
27
28
~WriteEnbl
R/~W
~Strobe
~PeriphSlct
~RAMSlct
~Reset
W/~R
SrlRcv
SrlXmt
SrlEnable
~HostIntrpt
I/OIntrpt
I/OClk
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
Analog1
Analog2
Analog3
Analog4
Analog5
Analog6
Analog7
Analog8
PosLim1
PosLim2
NegLim1
NegLim2
AxisOut1
AxisOut2
AxisIn1
AxisIn2
Hall1A
Hall1B
Hall1C
Hall2A
Hall2B
Hall2C
NC/Synch
GND
3, 8, 14, 20, 29, 37, 46, 56, 59,
61, 71, 92, 104, 113, 120
Unassigned
5, 30-34, 38, 39, 42, 45, 48, 49,
51, 55, 57, 67-70, 96, 97, 106109, 131
AGND
78-81
MC2800 Technical Specifications
29
84
85
86
87
74
89
75
88
76
83
77
82
63
65
64
66
94
95
72
100
73
90
91
101
102
105
54
5.3
Pin description tables
5.3.1
I/O chip
I/O Chip
Pin Name and
number
Direction
HostCmd
81
input
HostRdy
8
output
~HostRead
92
~HostWrite
100
~HostSlct
94
input
input
input
CPIntrpt
77
output
CPR/~W
53
input
CPStrobe
54
input
CPPeriphSlct
52
input
CPAddr0
CPAddr1
CPAddr15
41
43
50
input
MasterClkIn
89
input
CPClk
24
output
Description
This signal is asserted high to write a host instruction to the Motion
Processor, or to read the status of the HostRdy and HostIntrpt 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 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
8/8
after the instruction byte is transferred
after the second byte of each data word is transferred
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
serial
n/a
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 12.5 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.
I/O chip to CP chip interrupt. This signal sends an interrupt to the CP
chip whenever a host–chipset transmission occurs. It should be
connected to CP chip pin 53, I/OIntrpt.
This signal is high when the I/O chip is reading data from the I/O chip,
and low when it is writing data. It should be connected to CP chip pin 4,
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 6, Strobe.
This signal goes low when a peripheral device on the data bus is being
addressed. It should be connected to CP chip pin 130, PeriphSlct.
These signals are high when the CP chip is communicating with the I/O
chip (as distinguished from any other device on the data bus). They
should be connected to CP chip pins 110 (Addr0), 111 (Addr1), and 128
(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 I/Oclk signal (pin 58).
MC2800 Technical Specifications
30
I/O Chip
Pin Name and
number
Direction
Description
HostMode1
HostMode0
91
5
input
These two signals determine the host communications mode, as follows:
HostMode1 HostMode0
0
0
16/16 parallel (16-bit bus, 16-bit instruction)
0
1
8/8 parallel (8-bit bus, 8-bit instruction)
1
0
8/16 parallel (8-bit bus, 16-bit instruction)
1
1
serial
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
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
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
~HostSlct, ~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 I/O chip and pins Data0-15 of
the CP chip, via the Motion Processor data bus.
MC2800 Technical Specifications
31
I/O Chip
Pin Name and
number
PWMMag1A
PWMMag1B
PWMMag1C
PWMSign1A
Direction
21
62
23
61
output
Description
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.
These pins control Axis 1.
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.
PWMMag2A
PWMMag2B
PWMMag2C
PWMSign2A
85
87
86
60
output
For MC2840 and MC2820 all pins are valid.
Unused pins may be left unconnected.
Refer to the User’s Guide for more information on PWM encoding
schemes.
These pins control Axis 2.
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.
The PWM resolution is 10 bits at a frequency of 20.0 KHz.
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
For MC2840 and MC2820 all pins are valid.
Unused pins may 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.
For MC2840 all pins are valid. For MC2820 these pins are not valid.
Invalid or unused pins may be left unconnected.
MC2800 Technical Specifications
32
I/O Chip
Pin Name and
number
PWMMag4A
PWMMag4B
PWMMag4C
PWMSign4A
Direction
79
78
80
26
output
Description
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.
QuadA1
QuadB1
QuadA2
QuadB2
QuadA3
QuadB3
QuadA4
QuadB4
47
25
48
44
33
51
30
58
input
For MC2840 all pins are valid. For MC2820 these pins are not valid.
Invalid or unused 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 5.1 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
specifications).
For MC2840 all 8 pins are valid. For MC2820 only the first four pins
(axes 1 and 2) are valid.
WARNING! If a valid axis pin is not used, its signal must be
tied high.
~Index1
~Index2
~Index3
~Index4
49
93
83
28
input
Invalid axis pins may be left unconnected.
These pins provide the Index quadrature signals for the incremental
encoders. A valid index pulse is recognized by the chip set when ~Index,
A, and B are all low.
For MC2840 all 4 pins are valid. For MC2820 only ~Index1 and ~Index2
are valid.
WARNING! If a valid axis pin is not used, its signal must be
tied high.
~Home1
~Home2
~Home3
~Home4
82
29
88
45
input
Invalid axis pins may be left unconnected.
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.
For MC2840 all 4 pins are valid. For MC2820 only ~Home1 and ~Home2
are valid.
WARNING! If a valid axis pin is not used, its signal must be
tied high.
Invalid axis pins may be left unconnected.
MC2800 Technical Specifications
33
I/O Chip
Pin Name and
number
5.3.2
Direction
Vcc
16, 17, 40, 65, 66, 67, 90
GND
4, 9, 22, 34, 46, 57, 64, 72,
84, 96
unassigned
27, 55, 56
Description
All of these pins must be connected to the I/O chip’s digital supply
voltage, which should be in the range 4.75 to 5.25 V.
I/O chip ground. All of these pins must be connected to the digital
power supply return.
These pins must be left unconnected (floating).
Output pin configuration for multiple motor types
The MC2800 chip supports outputting PWM motor commands in both sign/magnitude and 5050
modes. The IO chip supports this operation and assigns pins according to the selected output mode.
The output mode is set using the Navigator command SetOutputMode. This command affects only
the selected axis, so the output for any axis can be selected independently of any other axis.
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.
For axis 1 of the chipset, 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 Navigator command SetNumberPhases.
In PWM 50/50 mode, these are the only signals.
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.
For axis 2 of the chipset, 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 Navigator command SetNumberPhases.
In PWM 50/50 mode, these are the only signals.
MC2800 Technical Specifications
34
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.
For axis 3 of the chipset, 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 Navigator command SetNumberPhases.
In PWM 50/50 mode, these are the only signals.
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.
For axis 4 of the chipset, 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 Navigator command SetNumberPhases.
In PWM 50/50 mode, these are the only signals.
Any unused pins may be left unconnected (floating).
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5.3.3
CP chip
CP chip
Pin Name and
number
Direction
Description
When low, this signal enables data to be written to the bus.
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 I/O chip pin 53, CPR/~W.
This signal is low when the data and address are valid during CP
communications. It should be connected to I/O chip pin 54, CPStrobe.
This signal is low when peripheral devices on the data bus are being addressed. It
should be connected to I/O chip pin 52, CPPeriphSlct.
This signal is low indicates when external memory is being accessed.
This is the master reset signal. When brought low, this pin resets the chipset to its
initial conditions.
This signal is the inverse of R/~W; it is high when R/~W is low, and vice versa. For
some decode circuits this is more convenient than R/~W.
This pin receives serial data from the serial transceiver.
~WriteEnbl
R/~W
1
4
output
output
~Strobe
6
output
~PeriphSlct
130
output
~RAMSlct
~Reset
129
41
output
input
W/~R
132
output
SrlRcv
43
input
NOTE! If this signal is not used, it should be tied high.
SrlXmt
SrlEnable
44
99
output
output
~HostIntrpt
I/OIntrpt
98
53
output
input
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
Data9
Data10
Data11
Data12
Data13
Data14
Data15
9
10
11
12
15
16
17
18
19
22
23
24
25
26
27
28
bi-directional
This pin transmits serial data to the asynchronous serial port.
This pin sets the serial port enable line. SrlEnable is always high for the point-topoint protocol and is high during transmission for the multi-drop protocol.
When low, this signal causes an interrupt to be sent to the host processor.
This signal interrupts the CP chip when a host I/O transfer is complete. It
should be connected to I/O chip pin 77, CPIntrpt.
Multi-purpose data lines. These pins comprise the CP chip’s external data bus,
used for all communications with the I/O 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.
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CP chip
Pin Name and
number
Direction
Description
Addr0
Addr1
Addr2
Addr3
Addr4
Addr5
Addr6
Addr7
Addr8
Addr9
Addr10
Addr11
Addr12
Addr13
Addr14
Addr15
I/OClk
110
111
112
114
115
116
117
118
119
122
123
124
125
126
127
128
58
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 I/O chip,
and are used to communicate between the CP and I/O chips.
Other address pins may be used for DAC output, parallel word input, or userdefined I/O operations. See the Navigator Motion Processor User’s Guide for a
complete memory map.
input
AnalogVcc
84
input
AnalogRefHigh 85
input
AnalogRefLow
86
input
AnalogGND
87
Analog1
Analog2
Analog3
Analog4
Analog5
Analog6
Analog7
Analog8
PosLim1
PosLim2
PosLim3
PosLim4
74
89
75
88
76
83
77
82
63
65
54
49
This is the CP chip clock signal. It should be connected to I/O chip pin 24,
CPClk.
CP chip analog power supply voltage. This pin must be connected to the analog
input supply voltage, which must be in the range 4.5-5.5 V
If the analog input circuitry is not used, this pin must be connected to Vcc.
CP chip 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 must be connected to Vcc.
CP chip 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 must be connected to GND.
CP chip analog input ground. This pin must be connected to the analog input
power supply return.
If the analog input circuitry is not used, this pin must be connected 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 range is AnalogRefLow to AnalogRefHigh.
input
Any unused pins should be tied to AnalogGND.
If the analog input circuitry is not used, these pins should be tied to GND.
input
These signals provide inputs from the positive-side (forward) travel limit
switches. On power-up or Reset these signals default to active low interpretation,
but the interpretation can be set explicitly using the SetSignalSense instruction.
For MC2840 all 4 pins are valid. For MC2820 only PosLim1 and PosLim2 are
valid.
WARNING! If a valid axis pin is not used, its signal must be tied
high. PosLim2 is an output during device reset and as such any
connection to GND or Vcc must be via a series resistor.
Invalid axis pins may also be left unconnected.
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CP chip
Pin Name and
number
PosLim3/
Synch
54
Direction
Description
input/output
On the MC2840 chipset, this pin is the positive-side (forward) travel limit switch
for axis#3. On the MC2820 chipset this pin is not used.
On the MC28x3 chipset, 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 a pulse on the pin synchronizes
the internal chip cycle.
WARNING! If a valid axis limit pin is not used, its signal should
be tied high.
NC/PosLim3
45
input
On the MC28x0 chipset, this pin is not used.
On the MC2843 chipset, this pin is the positive-side (forward) travel limit switch
for axis#3. On the MC2823 chipset this pin is not used.
WARNING! If a valid axis limit pin is not used, its signal should
be tied high.
NegLim1
NegLim2
NegLim3
NegLim4
64
66
55
51
input
These signals provide inputs from the negative-side (reverse) travel limit
switches. On power-up or Reset these signals default to active low interpretation,
but the interpretation can be set explicitly using the SetSignalSense instruction.
For MC2840 all 4 pins are valid. For MC2820 only NegLim1 and NegLim2 are
valid.
WARNING! If a valid axis pin is not used, its signal must be tied
high. NegLim1 is an output during device reset and as such any
connection to GND or Vcc must be via a series resistor.
AxisOut1
AxisOut2
AxisOut3
AxisOut4
94
95
96
97
output
AxisIn1
AxisIn2
AxisIn3
AxisIn4
72
100
106
67
input
Hall1A
Hall1B
Hall1C
Hall2A
Hall2B
Hall2C
Hall3A
Hall3B
Hall3C
Hall4A
Hall4B
Hall4C
73
90
91
101
102
105
107
108
109
68
69
70
input
Invalid axis pins may also 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.
For MC2840 all 4 pins are valid. For MC2820 only AxisOut1 and AxisOut2 are
valid.
Invalid or unused pins may be left unconnected.
These are general-purpose programmable inputs. They may be used as a
breakpoint input, to stop a motion axis, or to cause an UPDATE to occur.
For MC2840 all 4 pins are valid. For MC2820 only AxisIn1 and AxisIn2 are valid.
Invalid or unused pins may be left unconnected.
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. Schemes which provide Hall signals 60° apart will not work.
For MC2840 all 12 pins are valid. For MC2820 only the first six pins (axes 1 and
2) are valid. Invalid or unused pins may be left unconnected.
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CP chip
Pin Name and
number
Vcc
Direction
Description
2, 7, 13, 21, 35, 36, 40, CP digital supply voltage. All of these pins must be connected to the supply
47, 50, 52, 60, 62, 93, voltage. Vcc must be in the range 4.75 - 5.25 V.
103, 121
WARNING! Pin 35 must be tied HIGH with a pull-up resistor. A
nominal value of 22K Ohms is suggested.
GND
AGND
unassigned
unassigned
3, 8, 14, 20, 29, 37, 46, CP ground. All of these pins must be connected to the power supply return.
56, 59, 61, 71, 92, 104,
113, 120
78-81
These signals must be tied to AnalogGND.
If the analog input circuitry is not used, these pins must be tied to GND.
These signals may be connected to GND for better noise immunity and reduced
48
power consumption or they can be left unconnected (floating).
5, 30-34, 38, 39, 42,
These signals must be left unconnected (floating).
57, 131
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6 Application Notes
6.1
Design Tips
The following are recommendations for the design of circuits that utilize a PMD Motion Processor.
Serial Interface
The serial interface is a convenient interface that can be used before host software has been written
to communicate through the parallel interface. It is recommended that even if the serial interface is
not utilized as a standard communication interface, that the serial receive and transmit signals are
brought to test points so that they may be connected during initial board configuration/debugging.
This is especially important during the prototype phase. The serial receive line should include a pullup resistor to avoid spurious interrupts when it is not connected to a transceiver.
If the serial configuration decode logic is not implemented (see section 6.3) and the serial interface
may be used for debugging as mentioned above, the CP data bus should be tied high. This places the
serial interface in a default configuration of 9600,n,8,1 after power on or reset.
Controlling PWM output during reset
When the motion processor is in a reset state (when the reset line is held low) or immediately after a
power on, the PWM outputs can be in an unknown state, causing undesirable motor movement. It is
recommended that the enable line of any motor amplifier be held in a disabled state by the host
processor or some logic circuitry until communication to the motion processor is established. This
can be in the form of a delay circuit on the amplifier enable line after power up, or the enable line can
be ANDed with the CP reset line.
Parallel word encoder input
When using parallel word input for motor position, it is useful to also decode this information into
the User I/O space. This allows the current input value to be read using the chip instruction ReadIO
for diagnostic purposes.
Using a non standard system clock frequency
It is often desirable to share a common clock among several components in a design. In the case of
the PMD Motion Processors it is possible to use a clock below the standard value of 40MHz. In this
case all system frequencies will be reduced as a fraction of the input clock verses the standard
40MHz clock. The list below shows the affected system parameters:•
Serial baud rate
•
PWM carrier frequency
•
Timing characteristics as shown in section 3.2
•
Cycle time
•
Commutation rate
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For example, if an input clock of 34MHz is used with a serial baud rate of 9600 the following timing
changes will result:•
Serial baud rate decreases to 9600 bps *34/40 = 8160 bps
•
PWM frequency decreases to 20 KHz *34/40 = 17 KHz
•
Cycle time per axis increases to 153.6 µsec *40/34 = 180.71 µsec
•
Commutation rate for MC2820 decreases to 20KHz *34/40 = 17 KHz
•
Commutation rate for MC2840 decreases to 10KHz *34/40 = 8.5 KHz
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6.2
ISA Bus Interface
A complete, ready-to-use ISA (PC/AT) bus interface circuit has been provided to illustrate Navigator
host interfacing, as well as to make it easier for the customer to build a Navigator development
system.
The interface between the PMD Navigator chipset and the ISA (PC-AT) bus is shown on the
following page.
Comments on Schematic
This interface uses a CPLD and two 74LS245s to buffer the data lines. This interface assumes a base
address is assigned in the address space of A9-A0, 300-400 hex. These addresses are generally
available for prototyping and other system-specific uses without interfering with system assignments.
This interface occupies 16 addresses from XX0 to XXF hex though it does not use all the addresses.
Four select lines are provided allowing the base address to be set from 300 to 3F0 hex for the select
lines SW1-SW4 equal to 0- F respectively. The address assignments used are as follows, where
BADR is the base address, 340 hex for example:
Address
340h
342h
344h
348h
use
read-write data
write command -read status
write command -read status
write reset [Data = don't care]
The base address (BADR) is decoded in the 74LS688. It is combined with SA1, SA2, and SA3,
(BADR+0,2,4) to form HSELN to select the I/O chip and the 245’s. (BADR+2,4) asserts HCMD.
Two addresses are used to be compatible with the first generation products, which used BADR+2 to
write command and BADR+4 to read status.
B+8 and IOW* generate a reset pulse, -RS, for the CP chip. The reset instruction is OR'd with
RESET on the bus to initialize the PMD chipset when the PC is reset.
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6.3
RS-232 Serial Interface
The interface between the Navigator chipset and an RS-232 serial port is shown in the following
figure.
Comments on Schematic
S1 and S2 encode the characteristics of the serial port such as baud rate, number of stop bits, parity,
etc. The CP will read these switches during initialization, but these parameters may also be set or
changed using the SetSerialPort chipset command. The DB9 connector wired as shown can be
connected directly to the serial port of a PC without requiring a null modem cable.
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6.4
RS 422/485 Serial Interface
The interface between the Navigator chipset and an RS-422/485 serial port is shown in the following
figure.
Comments on Schematic
Use the included table to determine the jumper setup that matches the chosen configuration. If
using RS485, the last CP must have its jumpers set to RS485 LAST. The DB9 connector wiring is
for example only. The DB9 should be wired according to the specification that accompanies the
connector to which it is attached.
For correct operation, logic should be provided that contains the start up serial configuration for the
chipset. Refer to the RS232 Serial Interface schematic for an example of the required logic.
Note that the RS485 interface cannot be used in point to point mode. It can only be used in a multidrop configuration where the chip SrlEnable line is used to control transmit/receive operation of the
serial transceiver.
Chips in a multi-drop environment should not be operated at different baud rates. This will result in
communication problems.
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MC2800 Technical Specifications
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6.5
3 Phase PWM Motor Interface
The following schematic shows a typical interface circuit between the MC2840 and an amplifier used
in PWM 50/50 output mode.
Comments on Schematic
The L6234 from ST MicroElectronics is an integrated package that provides 3 half-bridge amplifiers
on a single chip. It can drive up to 2 Amps continuous at 52 Volts.
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6.6
Single Phase PWM Motor Interface
The following schematic shows a typical interface circuit between the MC2840 and an amplifier in
PWM Sign/Magnitude output mode.
Comments on Schematic
The LMD18200 H-bridge driver is used. To simplify the schematic, a diode bridge has been shown
for 1 axis only. The diode bridge for the other 3 axes is identical.
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6.7
12-bit Parallel DAC Interface
The interface between the MC2840 chip set and 2 quad 12 bit DAC’S is shown in the following
figure.
Comments on Schematic
The 12 data bits are written to the DAC addressed by address bits A0 and A1 in Quad DAC 1, when
A2 is 0. The 12 data bits are written to the DAC addressed by address bits A0 and A1 in quad DAC
2, when A2 is 1. In this fashion CP addresses 4000,4002,4004,and 4006 are used for axis 1-4, phase
A, and 4001,4003, 4005, and 4007, are used for axis 1-4 phase B.
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6.8
16-bit Serial DAC Interface
The following schematic shows an interface circuit between the MC2840 and a dual 16-bit serial
DAC.
Comments on Schematic
The 16 data bits from the CP chip are latched in the two 74H165 shift registers when the CP writes
to address 400x hex, and the address bits A1 and A2 are latched in the 2 DLAT latches and decoded
by the 138 CPU cycle. The fed-back and-or gate latches, the decoded WRF, and the next clock will
clear the 1st sequencer flop DFF3. This will disable the WRF latch and the second clock will clear
the second DFF3 flop, forcing DACWRN low, and setting the first flop since WRF will have gone
high. DACWRN low will clear the 74109, SHFTCNTN. The 4 bit counter, 74161, is also parallel
loaded to 0, and the counter is enabled by ENP going high. The counter will not start counting nor
the shift register start shifting until the clock after the DACWRN flop sets since the load overrides
the count enable. When the DACWR flop is set the shift register will start shifting and the counter
will count the shifts. After 15 shifts CNT15 from the counter will go high and the next clock will set
the DACLAT flop and set the SHFTCNTN flop. This will stop the shift after 16 shifts and assert
L1 through L4 depending on the address stored in the latch. The 16th clock also was counted
causing the counter to roll over to 0 and CNT15 to go low. The next clock will therefore clear the
DACLAT flop causing the DAC latch signal L1 through L4 to terminate and the 16 bits of data to be
latched in the addressed DAC. The control logic is now back in its original state waiting for the next
write to the DACs by the CP. SERCK is a 10MHz clock, the 20MHz CP clock divided by 2, since
the AD1866 DACs will not run at 20MHz.
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6.9
12-bit A/D Interface
The following schematic shows a typical interface circuit between the Navigator chipset and a quad
12 bit 2’s complement A/D converter used as a position input device.
Comments on Schematic
The A/D converter samples all 4 axes and sequentially converts and stores the 2’s complement
digital words. The data is read out sequentially, axis 1 to 4. DACRD- is used to perform the read
and is also used to load the counter to FFh. The counter will be reloaded for each read and will not
count significantly between reads. The counter will therefore start counting down after the last read
and will generate the cvt- pulse after 12.75 µsec. The conversions will take approximately 35 µsec,
and the data will be available for the next set of reads after 50 µsec. The 12 bit words from the A/D
are extended to 16 bits with the 74LS244.
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6.10 16-bit A/D Input
The interface between the Navigator chipset and 16 bit A/D converters as parallel input position
devices is shown in the following figure.
Comments on Schematic
The schematic shows a 16 bit A/D used to provide parallel position input to axis 1 and axis 2. The
expansion to the remaining two axes is easily implemented. The 374 registers are required on the
output of the A/D converters to make the 68-nanosecond access time of the CP. The worst-case
timing of the A/D’s specify 83 nanoseconds for data on the bus and 83 nanoseconds from data to
tri-state on the bus. Each time the data is read the 169 counter is set to 703 decimal. This provides a
35.2-microsecond delay before the next conversion. With a 10-microsecond conversion time the
data will be available for the next set of reads after 50 microseconds. The delay is used to provide a
position sample close to the actual position.
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6.11 RAM Interface
The following schematic shows an interface circuit between the Navigator chipset and external ram.
Comments on Schematic
The CP is capable of directly addressing 32K words of 16-bit memory. It will also use a 16 bit
paging register to address up to 32K word pages. The schematic shows the paging and addressing
for 128KB RAM chips, i.e. 4 pages per RAM chip. The page address decoding is shown for only 6 of
the 16 possible paging bits. The decoding time from W/R and DS- to the memory output must not
exceed 18 ns. for a read with no wait states. The writes provide 25 extra ns access time for W/R and
DS- to reverse the CP data bus.
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6.12 User-defined I/O
The interface between the Navigator chipset and 16 bits of user output and 16 bits of user input is
shown in the following figure.
Comments on Schematic
The schematic implements 1 word of user output registered in the 74LS377’s and 1 word of user
inputs read via the 244’s. The schematic decodes the low 3 bits of the address to 8 possible UIO
addresses UIO0 through UIO7. Registers and buffers are shown for only UIO0, but the
implementation shown may be easily extended. The lower 8 address bits may be decoded to provide
up to 256 user output words and 256 user input words of 16 bits.
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