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Part: MC1451A
Category:
Power Management
-> Motor Controller/Drivers
-> Stepper Motor controller/driver
Description: For Stepping Motion Control
Company: Performance Motion Devices, Inc.
Datasheet: Download MC1451A datasheet File size : 122 kB
Request For quote: Find where to buy MC1451A
Datasheet text preview:
Advanced Step Motor Control Chipset
Features
Advanced control of up to 4 step motors per chipset High speed pulse and direction output S-curve, trapezoidal, velocity contouring, and electronic gearing trajectory modes Optional incremental encoder feedback Software & feature compatible with other versions of PMD's chipset family Available in 1, 2, or 4 axis configurations 32-bit position, velocity, acceleration and jerk trajectory profile registers Pulse and direction output for each axis at up to 1.5 Mpulses/sec On-the-fly stall detection Two travel-limit switches per axis External motion breakpoint per axis Intelligent easy-to-use packet-oriented command protocol Programmable pulse output modes Chipset Developer's kit available
MC1451A, MC1451A-E MC1251A, MC1251A-E MC1151A, MC1151A-E
General Description
The MC1451A is a dedicated motion processor which functions as a complete chip-based step motor controller. Packaged in a 2-IC chipset, this device performs trajectory generation and pulse and direction signal generation for use in a wide variety of stepper-based systems. The MC1451A provides an optional third IC which allows incremental encoder signal input for position verification and on-the-fly stall detection. The MC1451A is available in a one, a two, and a four-axis configuration. The MC1451A is functionally similar to other PMD motion processors however it is dedicated to the control of step motors, instead of servo motors. All of these devices provide sophisticated trajectory generation and synchronization features allowing the creation of complex motion sequences.
Typical Configuration
Host Processor
Amp M E
Axis 1
In addition to pulse and direction circuitry which can output at up to 1.5 megapulses per second the chipset provides two limit switches per axis, a programmable external signal breakpoint per axis, and an 'At Rest' output signal. 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. A host interrupt line is provided so that the chipset can signal the host when special conditions occur such as stall detection. The chipset is packaged in 2 68-pin PLCC packages. An optional third 44 pin PLCC chip provides encoder input. All chips are CMOS and are powered by 5 volts.
Amp
M
E
Axis 2
MC1451A (I/O & CP & ENC)
(MC1451A, MC1251A only)
Amp
M
E
Axis 3
(MC1451A only)
Amp
M
E
Axis 4
(MC1451A only)
Doc. Rev. 12.02, 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 5 Operating Ratings....... Page 5 DC Electrical Characteristics ........ Page 5 AC Electrical Characteristics ........ Page 5 I/O Timing Diagrams............ Page 7 Pinouts ........... Page 11 MC1451A..... Page 11 MC1251A, MC1151A........... Page 12 Pin Descriptions.... Page 13 Theory of Operations ............ Page 17 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 External Breakpoints and Homing ........... Page 23 Disabling Automatic Profile Update ......... Page 24 Travel Limit Switches........... Page 24 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 26 Axis Status ... Page 27 Status Word ...... Page 27 Miscellaneous Mode Status Word............Page 27 Host Interrupts.......Page 28 Pulse & Direction Signal Generation............Page 29
Pulse Generation Control..........Page 29 At Rest Indicator.........Page 29
Encoder Position Feedback .......... Page 29
Stall Detection...Page 30 Position Error ....Page 30 Recovering From A Motion Error .......Page 30
Host Commands ..... Page 32 Command Summary ............ Page 32 Command Reference ........... Page 34 Axis Control.......Page 34 Profile Generation ............ Page 35 Parameter Update............Page 39 Interrupt Processing ......... Page 41 Status/Mode ...... Page 42 Pulse Generation .... Page 43 Encoder .... Page 44 Miscellaneous ......... Page 45 Application Notes ......... Page 48 ISA bus interfacing ...... Page 48
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 MC1451A, MC1251A, MC1151A, MC1451A-E, MC1251A-E, and MC1151A-E 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 MC1451A, MC1251A, MC1151A, MC1451A-E, MC1251A-E, and MC1151A-E chipsets. For technical details on other members of PMD's first 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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