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Part: MC1241
Category:
Interface and Interconnect
Description: For Microstepping Motion Control
Company: Performance Motion Devices, Inc.
Datasheet: Download MC1241 datasheet File size : 119 kB
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Datasheet text preview:
Advanced Microstepping Motion Control Chipset
Features Internal generation of microstepping signals 2-phase as well as 3-phase stepper motors 64 microsteps per full step S-curve, trapezoidal, and velocity profile trajectory modes Incremental encoder feedback On-the-fly motor stall detection Software & feature compatible with other versions of PMD's chipset family Available in 1 or 2 axis configurations 32-bit position, velocity, acceleration and jerk trajectory profile registers Electronic Gearing Two travel-limit switches per axis Choice of PWM or DAC motor output signals Chipset Developer's Kit Available
MC1241A MC1141A
General Description
The MC1241A is a dedicated motion processor which functions as a complete chip-based stepper motor controller. Packaged in a 2-IC chipset, this device performs trajectory profile generation and microstepping signal generation. The chipset outputs PWM or DAC-compatible motor command signals which directly drive the windings of the stepping motor, eliminating the need for external microstepping circuitry. The MC1241A also provides the ability to input incremental encoder signals. It is available in a one, or a two-axis configuration. The MC1241A is functionally similar to other members of PMD's 1st Generation Motion Processor Family however it adds the ability to perform micrstepping signal generation. All of these devices provide sophisticated trajectory generation allowing the creation of complex motion sequences. Both two and three-phase stepping motors are supported by the MC1241A. An internal ROM-based lookup table is used to generate the microstepping waveforms. The motor power level can be controlled with a resolution of 16 bits. Changes to the motor power level can be coordinated with other profile changes to optimize motor heat dissipation under different load and acceleration conditions. 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.
Microstepping Waveforms
2- Phase Stepper
Phase A Phase B
90 Deg
Microsteps
64 128 192 256 320
3- Phase Stepper
Phase A Phase B Phase C
120 Deg
Doc. Rev. 11.03, 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 MC1241A, MC1141A Pinouts....... 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 Parameter Loading & Updating .... Page 22 Manual Update ....... Page 22 Breakpoints ....... Page 23 Disabling Automatic Profile Update ......... Page 23 Travel Limit Switches....... Page 23 Axis Timing .. Page 24 Host Communications ......... Page 25 Electrical Interface ........... Page 25 Packet Format ........ Page 25 Packet Checksum............ Page 26 Illegal Commands............ Page 26 Command Errors .... Page 26 Axis Addressing...... Page 27 Axis Status... Page 27 Status Word...... Page 27 Miscellaneous Mode Status Word ........... Page 27
Host Interrupts.......Page 28 Encoder Position Feedback .......... Page 29 High Speed Position Capture....Page 29 Position Capture ReadBack ...... Page 29 Stall Detection ......... Page 29 Position Error .... Page 30 Recovering From A Motion Error .... Page 30 Microstepping ........ Page 30 Microstepping Waveforms.........Page 31 Motor Command Control..Page 31 AC Induction Motor Control.......Page 31 Command Summary ........ Page 32 Motor Output ......... Page 32 Motor Output Signal Interpretation ........... Page 32 DAC16 Decoding.....Page 32 PWM Decoding ....... Page 32 Motor Drive Configurations ....... Page 33 3-Phase Drive Configuration ..... Page 33 Host Commands ..... Page 34 Command Summary ............ Page 34 Command Reference ........... Page 36 Axis Control.......Page 36 Profile Generation ............ Page 37 Parameter Update............Page 41 Interrupt Processing ......... Page 43 Status/Mode ...... Page 44 Motor Control .... Page 45 Encoder .... Page 46 Miscellaneous ......... Page 48 Microstepping .... Page 49 Application Notes ......... Page 52 Interfacing MC1241A to ISA bus...Page 52 PWM Motor Interface ........... Page 54 16-Bit Serial DAC Motor interface ....... Page 56
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 Yes Yes Yes Yes Yes Yes Yes Yes MC1401A, MC1401A-P (4 axes) MC1201A, MC1201A-P (2 axes) MC1101A, MC1101A-P (1 axis) DK1401A, DK1401A-P 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 (-E version) Pulse and Direction Yes Yes Yes Yes Yes Yes (-E version) MC1451A, MC1451A-E (4 axes) MC1251A, MC1251A-E (2 axes) MC1151A, MC1151A-E (1 axis) DK1451A
Developer's Kit p/n's:
Introduction
This manual describes the operational characteristics of the MC1241A and MC1141A 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 motion 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 MC1241A and MC1141A 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. MC1231 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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