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Part: MC1231A
Category:
Microprocessors
-> CISC
Description: For Brushless Servo Motion Control
Company: Performance Motion Devices, Inc.
Datasheet: Download MC1231A datasheet File size : 119 kB
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Datasheet text preview:
Advanced Brushless Motor Control Chipset
Features Supports 3-phase as well as 2-phase brushless motors Performs trajectory generation, servo loop closure, and commutation Ultra-smooth sinusoidal commutation Open or closed loop operation Software and feature-compatible with other 1st generation PMD chipsets Available in 1 or 2 axis configurations 32-bit position, velocity, acceleration and jerk trajectory profile registers Choice of S-curve, trapezoidal, or contoured velocity profile modes Electronic Gearing Two travel-limit switches per axis Choice of PWM or DAC motor output signals Easy-to-use packet-oriented command protocol Commutation Waveforms
3-Phase Brushless
Phase A Phase B Phase C
MC1231A MC1131A
General Description
The MC1231A is a dedicated motion processor which functions as a complete chip-based motor controller. Packaged in a 2-IC chipset, this device performs trajectory generation, servo loop closure, and sinusoidal commutation. The chipset inputs incremental encoder signals and outputs PWM or DAC-compatible motor command signals. The MC1231A is available in a one, or a two-axis configuration. The MC1231A is functionally similar to other members of PMD's 1st generation chipset family however it adds the ability to perform sinusoidal commutation of brushless motors. All of these devices provide sophisticated motion control capabilities allowing the creation of complex profile sequences with very low tracking errors. Both two and three-phase brushless motors are supported by the MC1231A. When used with two-phase brushless motors each phase is separated by 90 degrees. When used with 3-phase brushless motors each phase is separated by 120 degress. The commutation angle is continuously calculated using the encoder position. User-programmable commutation parameters allow a very wide range of encoders and motors to be controlled. The chipset is controlled by a host processor which interfaces with the chipset via an 8-bit, bi-directional port. Communications to/from the chipset consist of packet-oriented messages. The chipset is packaged in 2 68-pin PLCC packages. Both chips utilize CMOS technology and are powered by 5 volts.
2-Phase Brushless
Phase A Phase B
Doc. Rev. 10.05, Nov 1997
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com
Table of Contents
Product Family Overview...... Page 3 Introduction .. Page 3 Family Summary......... Page 3 Electrical Characteristics...... Page 4 Absolute Maximum Ratings.......... Page 4 Operating Ratings....... Page 4 DC Electrical Characteristics ........ Page 5 AC Electrical Characteristics ........ Page 5 I/O Timing Diagrams............ Page 7 Pinouts ........... Page 12 MC1231A, MC1131A........... Page 12 Pin Descriptions.... Page 13 Theory of Operations ............ Page 17 Operational Parameters ...... Page 18 Trajectory Profile Generation........ Page 18 S-curve Point to Point...... Page 19 Trapezoidal Point to Point......... Page 20 Velocity Contouring.......... Page 20 Electronic Gear....... Page 21 Trajectory Control ....... Page 21 Halting the Trajectory ...... Page 21 Motion Complete Status .. Page 22 Digital Servo Filtering .......... Page 22 Motor Bias ........ Page 23 Motor Limit........ Page 23 Parameter Loading & Updating .... Page 23 Manual Update ....... Page 24 Breakpoints ....... Page 24 External Breakpoints and Homing ........... page 25 Disabling Automatic Profile Update ......... Page 25 Travel Limit Switches........... Page 25 Motion Error Detection......... Page 26 Recovering From a Motion Error .... Page 26 Servo Loop Control & Timing ....... Page 26 Host Communications ......... Page 27 Electrical Interface ........... Page 27 Packet Format ........ Page 27 Packet Checksum............ Page 28 Illegal Commands............ Page 28 Command Errors .... Page 28 Axis Addressing...... Page 29 Axis Status... Page 29 Status Word...... Page 29 Miscellaneous Mode Status Word............Page 29 Host Interrupts.......Page 30 Encoder Position Feedback .......... Page 31 Encoder FIltering.....Page 31 High Speed Position Capture....Page 31 Index Pulses and Commutation ...... Page 31 Motor Outputs ....... Page 31 Motor Output Control........Page 32 Sinusoidal Commutation ...... Page 31 Commutation Waveforms..........Page 33 Commutation Parameters ......... Page 33 Index Pulse Referencing .. Page 33 Commutation Error Detection....Page 34 Phase Initialization ........... Page 34 Phase Initialization Programming....Page 35 Adjusting The Commutation Angle...........Page 36 Encoder Pre-Scalar..........Page 37 Velocity-Based Phase Advance ...... Page 37 Phase Info Status Word ... Page 37 Commutation Command Summary..........Page 38 Motor Output Configuration.......Page 38 Motor Output Signal Interpretation ........... Page 38 DAC16 Decoding.....Page 39 PWM Decoding ....... Page 39 Host Commands ..... Page 40 Command Summary ............ Page 40 Command Reference ........... Page 42 Axis Control.......Page 42 Profile Generation ............ Page 43 Digital Filter ....... Page 46 Parameter Update............Page 49 Interrupt Processing ......... Page 51 Status/Mode ...... Page 52 Encoder .... Page 53 Motor ........ Page 54 Miscellaneous ......... Page 55 Commutation ..... Page 57 Application Notes ......... Page 62 Interfacing to ISA bus...........Page 62 PWM Motor Interface ........... Page 64 16-Bit Parallel DAC Motor interface .... Page 66
Performance Motion Devices, Inc. does not assume any responsibility for use of any circuitry described in this manual, nor does it make any guarantee as to the accuracy of this manual. Performance Motion Devices, Inc. reserves the right to change the circuitry described in this manual, or the manual itself, at any time. The components described in this manual are not authorized for use in life-support systems without the express written permission of Performance Motion Devices, Inc..
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Product Family Overview
# of axes Motors Supported Encoder Format Output Format S-curve profiling Electronic gearing On-the-fly changes Limit switches PID & feedforward PWM output DAC-compatible output Pulse & direction output Index & Home signal Chipset p/n's MC1401 series 4, 2, or 1 DC Servo Incremental (no dash version) and Parallel ('-P' version) DC servo MC1231 series 2 or 1 Brushless Servo Incremental Sinusoidally commutated Yes Yes Yes Yes Yes Yes Yes Yes MC1231A (2 axes) MC1131A (1 axis) DK1231A MC1241 series 2 or 1 Stepper Incremental Microstepping Yes Yes Yes Yes Yes Yes Yes MC1241A (2 axes) MC1141A (1 axis) DK1241A MC1451 series 4, 2, or 1 Stepper Incremental* Pulse and Direction Yes Yes Yes Yes Yes Yes* MC1451A, MC1451A-E (4 axes) MC1251A, MC1251A-E (2 axes) MC1151A, MC1151A-E (1 axis) DK1451A
Yes Yes Yes Yes Yes Yes Yes Yes MC1401A, MC1401A-P (4 axes) MC1201A, MC1201A-P (2 axes) MC1101A, MC1101A-P (1 axis) Developer's Kit p/n's: DK1401A, DK1401A-P * optional using third I.C. ('-E' version)
Introduction
This manual describes the operational characteristics of the MC1231A, and MC1131A Motion Processors. These devices are members of PMD's 1st generation motion processor family, which consists of 16 separate products organized into four groups. Each of these devices are complete chip-based motion controllers. 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 processor chips which can handle a large variety of system configurations. Each of these chips utilize a similar architecture, consisting of a highspeed DSP (Digital Signal Processor) computation unit , along with an ASIC (Application Specific Integrated Circuit). The computation unit contains special on-board hardware such as a multiply instruction that makes it well suited for the task of servo control. Along with a similar hardware architecture these chips also share most software commands, so that software written for one chipset may be reused with another, even though the type of motor may be different. This manual describes the operation of the MC1231A and MC1131A chipsets. For technical details on other members of PMD's 1st generation motion processors see the corresponding product manual.
Family Summary
MC1401 series (MC1401A, MC1201A, MC1101A, MC1401A-P, MC1201A-P, MC1101A-P) - These chipsets take in incremental encoder signals (standard version) or parallel word encoder signals (-P version) and output a motor command in either PWM or DACcompatible format. These chipsets come in 1, 2 or 4 axis versions and can be used with DC brushed motors, or brushless motors using external commutation. MC1231A series (MC1231A, MC1131A) - These chipsets take in incremental quadrature encoder signals and output sinusoidally commutated motor signals appropriate for driving brushless motors. They are available in one or two axis versions. Depending on the motor type they output two or three phased signals per axis in either PWM or DAC-compatible format. MC1241 series (MC1241A, MC1141A) - These chipsets provide internal microstepping generation for stepping motors. They are available in a one or a two-axis version. Two phased signals are output per axis in either PWM or DAC-compatible format. An incremental encoder signal can be input to confirm motor position. MC1451 series (MC1451A, MC1251A, MC1151A, MC1451A-E, MC1251A-E, MC1151A-E) - These chipsets provide very high speed pulse and direction signal output appropriate for driving step motorbased systems. They are available in a one, two, or four-axis version and are also available with quadrature encoder input. Each of these chipsets has an associated Chipset Developer's Kit available for it. For more information contact your PMD representative.
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