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Электронный компонент: MC1231

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Advanced Brushless Motor
Control Chipset
MC1231A
MC1131A
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
Features
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.
Doc. Rev. 10.05, Nov 1997
Commutation Waveforms
Phase A
Phase B
Phase C
Phase A
Phase B
3-Phase Brushless
2-Phase Brushless
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com
2
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..
3
Product Family Overview
MC1401 series
MC1231 series
MC1241 series
MC1451 series
# of axes
4, 2, or 1
2 or 1
2 or 1
4, 2, or 1
Motors Supported
DC Servo
Brushless Servo
Stepper
Stepper
Encoder Format
Incremental (no dash version)
and Parallel ('-P' version)
Incremental
Incremental
Incremental*
Output Format
DC servo
Sinusoidally
commutated
Microstepping
Pulse and Direction
S-curve profiling
Yes
Yes
Yes
Yes
Electronic gearing
Yes
Yes
Yes
Yes
On-the-fly changes
Yes
Yes
Yes
Yes
Limit switches
Yes
Yes
Yes
Yes
PID & feedforward
Yes
Yes
-
-
PWM output
Yes
Yes
Yes
-
DAC-compatible output
Yes
Yes
Yes
-
Pulse & direction output
-
-
-
Yes
Index & Home signal
Yes
Yes
Yes
Yes*
Chipset p/n's
MC1401A, MC1401A-P (4 axes)
MC1201A, MC1201A-P (2 axes)
MC1101A, MC1101A-P (1 axis)
MC1231A (2 axes)
MC1131A (1 axis)
MC1241A (2 axes)
MC1141A (1 axis)
MC1451A, MC1451A-E (4 axes)
MC1251A, MC1251A-E (2 axes)
MC1151A, MC1151A-E (1 axis)
Developer's Kit p/n's:
DK1401A, DK1401A-P
DK1231A
DK1241A
DK1451A
* 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 high-
speed 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 re-
used 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 DAC-
compatible 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 motor-
based 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.
4
Electrical Characteristics
Overview
The MC1231A consists of two 68 pin PLCC's both fabricated in CMOS.
The Peripheral Input/Output IC (I/O chip) is responsible for interfacing
to the host processor and to the position input encoders. The Command
Processor IC (CP chip) is responsible for all host command, trajectory,
servo, and commutation computations, as well as for outputting the
PWM and DAC signals.
The following figure shows a typical system block diagram, along with
the pin connections between the I/O chip and the CP chip.
Encoder
(1-2 axis)
Host
Processor
CP
I/O
Data4-11
I/OAddr0-3
I/OWrite
I/OCntrl0-3
ClkOut
Amplifier
(1-2 axis)
Motor
(4 axis)
Hall Sensors
(1 - 2 axis)
The CP and I/O chips function together as one integrated motion
processor. The major components connected to the chip set are the
Encoder (2, or 1 axes), (optionally) the motor Hall-sensors (2 or 1 axes),
the motor amplifier (2, or 1 axes), and the host processor.
The encoder signals are input to the I/O chip in quadrature format. Two
signals encode the position, and an optional index signal contains a
once-per-rotation locating signal.
Hall sensors may be connected to the chipset to provide phase
initialization information, although this is not required. Three Hall sensor
signals are input per axis.
The chipset's motor output signals are connected to the motor amplifier.
Two types of output are provided; PWM (pulse width modulation), and
DAC-compatible signals used with an external DAC (digital to analog
converter). Because the output signals are commutated, more than one
motor output signal will be output per axis. See Theory of Operations
section on sinusoidal motor commutation for details.
The host processor is interfaced via an 8-bit bi-directional bus and
various control signals. Host communication is coordinated by a
ready/busy signal, which indicates when communication is allowed.
Interconnections between the two chips consist of a data bus and
various control and synchronization signals. The following table
summarizes the signals that must be interconnected for the chipset to
function properly. For each listed signal the I/O chip pin on the left side
of the table is directly connected to the pin to the right.
I/O Chip Signal
Name
I/O Chip
Pin
CP Chip
Signal Name
CP Chip
Pin
CPData4
18
Data4
50
CPData5
5
Data5
49
CPData6
6
Data6
46
CPData7
7
Data7
43
CPData8
8
Data8
40
CPData9
17
Data8
39
CPData10
3
Data10
36
CPData11
1
Data11
35
CPAddr0
68
I/OAddr0
28
CPAddr1
27
I/OAddr1
9
CPAddr2
29
I/OAddr2
6
CPAddr3
12
I/OAddr3
5
CPCntr0
20
I/OCntr0
16
CPCntr1
36
I/OCntr1
18
CPCntr2
22
I/OCntr2
68
CPCntr3
63
I/OCntr3
67
CPWrite
2
I/OWrite
15
CPClk
46
ClkOut
19
For a complete description of all pins see the 'Pin Descriptions'
section of this manual.
Absolute Maximum Ratings
Unless otherwise stated, all electrical specifications are for both
the I/O and CP chips.
Storage Temperature, Ts.....................-55 deg. C to +150 deg. C
Supply Voltage, Vcc.............................-0.3 V to +7.0 V
Power Dissipation, Pd..........................650 mW (I/O and CP
combined)
Operating Ratings
Operating Temperature, Ta .................0 deg. C to +70 deg. C
Nominal Clock Frequency, Fclk ...........25.0 Mhz
Supply Voltage, Vcc.............................4.75 V to 5.25 V
* Industrial and Military operating ranges also available. Contact your
PMD representative for more information.
5
DC Electrical Characteristics
(Vcc and Ta per operating ratings, Fclk = 25.0 Mhz)
Symbol
Parameter
Min.
Max.
Units
Conditions
Vcc
Supply Voltage
4.75
5.25
V
Idd
Supply Current
100
mA
open outputs
Input Voltages
Vih
Logic 1 input voltage
2.0
Vcc + 0.3
V
Vil
Logic 0 input voltage
-0.3
0.8
V
Vihclk
Logic 1 voltage for clock pin
(ClkIn)
3.0
Vcc+0.3
V
Vihreset
Logic 1 voltage for reset pin
(reset)
4.0
Vcc+0.3
V
Output Voltages
Voh
Logic 1 Output Voltage
2.4
V
@CP Io = 300 uA
@I/O Io = 4 mA
Vol
Logic 0 Output Voltage
0.33
V
@CP Io = 2 mA
@I/O Io = 4 mA
Iout
Tri-State output leakage current
-20
20
uA
0 < Vout < Vcc
Iin
Input current
-50
50
uA
0 < Vi < Vcc
Iinclk
Input current ClkIn
-20
20
uA
0 < Vi < Vcc
AC Electrical Characteristics
(see reference timing diagrams)
(Vcc and Ta per operating ratings; Fclk = 25.0 Mhz)
(~ character indicates active low signal)
Timing Interval
T#
Min.
Max.
Units
Encoder and Index Pulse Timing
Motor-Phase Pulse Width
T1
1.6
uS
Dwell Time Per State
T2
0.8
uS
Index Pulse Setup and Hold
(relative to Quad A and Quad B low)
T3
0
uS
Reset Timing
Stable Power to Reset
0.25
Sec
Reset Low Pulse Width
1.0
uS
Clock Timing
Clock Frequency (Fclk)
6.7
25.6
Mhz
Clock Pulse Width
T4
19.5
75 (note 2)
nS
Clock Period
T5
39
149 (note 2)
nS