Available in 1, 2, or 4 axes configurations
Provides trajectory generation and servo loop
closure
32-bit position, velocity, acceleration and jerk
registers
Two directional travel-limit switches per axis
Choice of S-curve, trapezoidal, or contoured
velocity profile modes
Programmable loop rate to 100 micro sec
Electronic gearing
Choice of either PID or PI with velocity feedforward
servo control loops
1.0 megacount/sec quadrature incremental encoder
with index position capture
Parallel encoder and resolver input support
Choice of PWM or DAC motor output signals
High speed home-signal position capture
"On the fly" control of profile and filter parameters
with pre-load
Programmable torque limit
Easy to use packet-oriented host protocol
Programmable host interrupts
Typical Configuration
Features
General Description
The MC1401A is a 2-IC general purpose motion control chipset
available in one, two, or four axis configurations. It provides
trajectory generation and closed-loop digital servo control for a
large variety of servo motors. It uses incremental or absolute
encoder position feedback signals, and a DAC or PWM
compatible output drive. Axes can be programmed either
independently or in synchrony to allow advanced multi-axis
motion such as circular and continuous-path profiles.
The MC1401A is functionally similar to other members of
PMD's 1st generation chipset family, providing software and
architectural compatibility with these chipsets. All of these
products support advanced features such as S-curve profile
generation, bi-directional motion-travel limit switches, and
separate home and index position capture signals.
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 encoder index pulse
received.
Each axis interfaces to either a quadrature encoder with an
optional index pulse, or a parallel-word device such as an
absolute encoder or resolver. For motor amplifier output, PWM
signals are provided, as well as DAC-compatible signals with up
to 16 bits of resolution.
The chipset is packaged in 2 68-pin PLCC packages. Both
chips utilize CMOS technology and are powered by 5 volts.
Host
Processor
MC1401A
(I/O & CP)
E
Axis 1
E
Axis 2
E
Axis 3
E
Axis 4
Amp
Amp
Amp
Amp
M
M
M
M
Doc. Rev. 6.14, Nov, 1997
(MC1401A only)
(MC1401A only)
(MC1401A,
MC1201A only)
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com
$GYDQFHG0XOWL$[LV0RWLRQ
&RQWURO&KLSVHW
0&$0&$3
0&$0&$3
0&$0&$3
Available Configurations:
Operating Modes:
Position Range:
Velocity Range:
Acceleration Range:
Jerk Range:
Trajectory Profile Generator Modes:
Electronic Gear Ratio Range:
Filter Modes:
Filter Parameter Resolution:
Motor Output Formats:
Max. Encoder Rate:
Parallel Encoder Word Size:
Max. Servo Loop Rate:
# of Limit Switches Per Axis:
# Of Position Capture Triggers:
Capture Trigger Latency:
# of Host Commands:
4 axes with incremental quadrature encoder input (MC1401A)
2 axes with incremental quadrature encoder input (MC1201A)
1 axes with incremental quadrature encoder input (MC1101A)
4 axes with parallel word encoder input (MC1401A-P)
2 axes with parallel word encoder input (MC1201A-P)
1 axes with parallel word encoder input (MC1101A-P)
Closed loop (motor command is driven from output of servo filter)
Open loop (motor command is driven from user-programmed register)
-1,073,741,824 to 1,073,741,823 counts
-16,384 to 16,383 counts/sample with a resolution of 1/65,536 counts/sample
S-curve profile: -1/2 to 1/2 counts/sample^2 with a resolution of 1/65,536 counts/sample^2
All other profiles: -16,384 to 16,383 counts/sample^2 with a resolution of 1/65,536 counts/sample^2
-1/2 to 1/2 counts/sample^3, with a resolution of 1/4,294,967,296 counts/sample^3
S-curve (host commands final position, maximum velocity, maximum acceleration, and jerk)
Trapezoidal (host commands final position, maximum velocity, and acceleration)
Velocity contouring (host commands maximum velocity, acceleration)
Electronic Gear (Encoder position of one axis is used as position command for another axis).
32768:1 to 1:32768 (negative and positive direction)
PID+Vff (Proportional, Integral, Derivative, velocity feedforward, DC bias)
16 bits
PWM (10 bits resolution @ 24.5 Khz)
DAC (16 bits)
Incremental: 1.0 Megacounts/sec, Parallel-word: 80.0 Mcounts/sec.
16 bits (read in 2 byte reads, -P version only)
100 uSec per enabled axis
2 (one for each direction of travel)
2 (index, home signal)
160 nSec
94
Technical Specifications
P/N: MC1 01A -
4 - 4 axis
2 - 2 axis
1 - 1 axis
No dash - Incremental
encoder
P - parallel encoder
Ordering
Information
Chipset Developer's Kit
Chipset
p/n: DK1401A - *
*Supports MC1401A,
MC1201A, MC1101A,
No dash - Incremental
encoder
P - parallel encoder
Custom versions of
chipset available
upon request. Call
DAC
Incremental Encoder
Trajectory
profile generator
Digital Servo
filtering (1-4)
Host I/O controller
Index
B
A
Internal Block Diagram
host interrupt
Data
Control
PWM sign,
mag
DAC address
Motor Output
System Registers (1-4)
16
1/a
1/a
1/a
1/phase
2
1
8
5
Quadrature
decoder
counter (1-4)
Position
capture register
Position
register (1-4)
Host command
DAC, PWM signal generator (1-4
Home
1/a
PosLimit
1/a
NegLimit
1/a
8 data
2 Control
Parallel Input
(-P chipset only)
I/O Chip
CP Chip
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com
PDF 
ZIP