Performance Motion Devices, Inc.
55 Old Bedford Road
Lincoln, MA 01773
Pilot
™
Motion Processor
User’s Guide
Revision 1.6, November 2002
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 2000 by Performance Motion Devices, Inc.
Navigator, Pilot and C-Motion are trademarks of Performance Motion Devices, Inc
Pilot Motion Processor User’s Guide
iii
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.
Pilot Motion Processor User’s Guide
iv
Related Documents
Pilot Motion Processor User’s Guide (MC3000UG)
How to set up and use all members of the Pilot Motion Processor family.
Pilot Motion Processor Programmer’s Reference (MC3000PR)
Descriptions of all Pilot Motion Processor commands, with coding syntax and examples, listed
alphabetically for quick reference.
Pilot Motion Processor Technical Specifications
Four booklets containing physical and electrical characteristics, timing diagrams, pinouts and pin
descriptions of each series:
MC3110, for brushed servo motion control (MC3110TS);
MC3310, for brushless servo motion control (MC3310TS);
MC3410, for micro-stepping motion control (MC3410TS);
MC3510, for stepping motion control (MC3510TS);
Pilot Motion Processor Developer’s Kit Manual (DK3000M)
How to install and configure the DK3000 developer’s kit PC board.
Pilot Motion Processor User’s Guide
v
Table of Contents
Warranty...................................................................................................................................................... iii
Safety Notice ................................................................................................................................................ iii
Disclaimer..................................................................................................................................................... iii
Related Documents...................................................................................................................................... iv
Table of Contents.......................................................................................................................................... v
1 The Pilot Family ........................................................................................................................................ 9
2 System Overview ................................................................................................................................ 11
3 Trajectory Generation ............................................................................................................................ 13
3.1 Trajectories, profiles, and parameters........................................................................................... 13
3.1.1 Trajectory parameter representation ..................................................................................... 13
3.2 Trapezoidal point-to-point profile ................................................................................................ 14
3.3 S-curve point-to-point profile....................................................................................................... 15
3.4 Velocity-contouring profile .......................................................................................................... 18
3.5 The SetStopMode command.........................................................................................................19
3.6 Motor Mode.................................................................................................................................. 19
3.7 Setting the cycle time ................................................................................................................... 20
4 The Servo Loop........................................................................................................................................ 21
4.1 Overview ...................................................................................................................................... 21
4.1.1 PID loop algorithm ............................................................................................................... 21
4.1.2 Motor bias............................................................................................................................. 22
4.1.3 Output scaling....................................................................................................................... 22
4.1.4 Output limit .......................................................................................................................... 22
4.2 Closed-loop and open-loop control modes ................................................................................... 23
4.2.1 Motor bias in open-loop mode.............................................................................................. 23
5 Parameter update and breakpoints ....................................................................................................... 24
5.1 Parameter buffering ...................................................................................................................... 24
5.1.1 Updates................................................................................................................................. 24
5.2 Breakpoints................................................................................................................................... 25
5.2.1 Defining a breakpoint, Overview.......................................................................................... 25
5.2.2 Breakpoint triggers ............................................................................................................... 26
5.2.3 Threshold-triggered breakpoints........................................................................................... 26
5.2.4 Level-triggered breakpoints.................................................................................................. 26
5.2.5 Breakpoint actions ................................................................................................................ 27
5.2.6 Breakpoint Examples............................................................................................................ 27
6 Status Registers........................................................................................................................................ 29
Overview .................................................................................................................................................. 29
6.1 Event Status register ..................................................................................................................... 29
6.1.1 Instruction error .................................................................................................................... 30
6.2 Activity Status register ................................................................................................................. 30
6.3 Signal Status ................................................................................................................................. 31