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)

Axis 1

Axis 2

Axis 3

Axis 4

Amp

Doc. Rev. 6.14, Nov, 1997

(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

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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 13

MC1401A. MC1201A............................................ Page 13
MC1101A, MC1401A-P ........................................ Page 14
MC1201A-P, MC1101A-P..................................... Page 15
Pin Descriptions.................................................... Page 16

Theory of Operations ............................................. Page 20

Trajectory Profile Generation................................ Page 21

S-curve Point to Point ....................................... Page 22
Trapezoidal Point to Point................................. Page 23
Velocity Contouring........................................... Page 23
Electronic Gear................................................. Page 24

Trajectory Control ................................................. Page 24

Halting The Trajectory ...................................... Page 24
Motion Complete Status ................................... Page 25

Digital Servo Filtering ........................................... Page 25

Motor Limit........................................................ Page 26
Motor Bias ........................................................ Page 26

Parameter Loading & Updating ............................ Page 26

Manual Update ................................................. Page 27
Breakpoints....................................................... Page 27
External Breakpoints and Homing .................... Page 28
Disabling Automatic Profile Update .................. Page 28

Travel Limit Switches............................................ Page 28
Motion Error Detection and Recovery .................. Page 29

Recovering From a Motion Error ...................... Page 29

Axis Timing ........................................................... Page 29
Host Communications .......................................... Page 30

Electrical Interface ............................................ Page 30
Packet Format .................................................. Page 30

Packet Checksum .............................................Page 31
Illegal Commands .............................................Page 31
Command Errors...............................................Page 31

Axis Addressing ....................................................Page 31
Axis Status ............................................................Page 32

Status Word ......................................................Page 32
Miscellaneous Mode Status Word.....................Page 32

Host Interrupts.......................................................Page 32
Encoder Position Feedback ..................................Page 34

Incremental Encoder Input ................................Page 34
Encoder Filtering ...............................................Page 34
High Speed Position Capture ............................Page 34
Parallel-Word Device Input................................Page 34
Parallel-Word Device Interfacing.......................Page 35

Motor Outputs .......................................................Page 35

Motor Output Control.........................................Page 35
PWM Output......................................................Page 36
12-Bit DAC Output.............................................Page 36
16-Bit DAC Output.............................................Page 36

Host Commands .....................................................Page 38

Command Summary .............................................Page 38
Command Reference ............................................Page 40

Axis Control.......................................................Page 40
Profile Generation .............................................Page 41
Digital Filter .......................................................Page 45
Parameter Update.............................................Page 47
Interrupt Processing ..........................................Page 50
Status/Mode ......................................................Page 51
Encoder.............................................................Page 52
Motor .................................................................Page 52
Miscellaneous ...................................................Page 54

Application Notes ...................................................Page 58

Interfacing to ISA bus............................................Page 58
Parallel-Word Device Interface .............................Page 60
PWM Motor Interface ............................................Page 62
16-Bit Parallel DAC Motor interface ......................Page 64
16-Bit Serial 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.

Product Family Overview

MC1401 series

MC1231 series

MC1241 series

MC1451 series

# of axes

4, 2, or 1

2 or 1

4, 2, or 1

Motors Supported

DC Servo

Brushless Servo

Stepper

Encoder Format

Incremental (no dash version)

and Parallel ('-P' version)

Incremental

Incremental (-E version)

Output Format

DC servo

Sinusoidally

commutated

Microstepping

Pulse and Direction

S-curve profiling

Yes

Electronic gearing

Yes

On-the-fly changes

Yes

Limit switches

Yes

PID & feedforward

Yes

PWM output

Yes

DAC-compatible output

Yes

Pulse & direction output

Yes

Index & Home signal

Yes

Yes (-E version)

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

Introduction

This manual describes the operational characteristics of the MC1401A,
MC1201A, MC1101A, MC1401A-P, MC1201A-P, and MC1101A-P
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 motion 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 MC1401A, MC1201A,
MC1101A, MC1401A-P, MC1201A-P, and MC1101A-P 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 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.

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 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.

Electrical Characteristics

Overview

The MC1401A-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, profile and
servo 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

(1-4 axis)

Host

Processor

I/O

Data4-11

I/OAddr0-3

I/OWrite

I/OCntrl0-3

ClkOut

Amplifier

(1-4 axis)

Motor

(4 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 (4, 2, or 1 axes), the motor amplifier (4, 2, or 1 axes), and the
host processor.

For the standard MC1401A parts (non '-P' parts), the encoder signals
are input to the I/O chip in quadrature format. For the '-P' parts the
encoder information is input directly into the CP chip, via an 8 bit data
bus and various control signals.

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).

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

Data4

CPData5

Data5

CPData6

Data6

CPData7

Data7

CPData8

Data8

CPData9

Data8

CPData10

Data10

CPData11

Data11

CPAddr0

I/OAddr0

CPAddr1

I/OAddr1

CPAddr2

I/OAddr2

CPAddr3

I/OAddr3

CPCntr0

I/OCntr0

CPCntr1

I/OCntr1

CPCntr2

I/OCntr2

CPCntr3

I/OCntr3

CPWrite

I/OWrite

CPClk

ClkOut

For a complete description of all pins see the 'Pin Descriptions'
section of this manual.

Unless specifically noted otherwise, the term 'MC1401A' refers to
the MC1401A, MC1201A, MC1101A, MC1401A-P, MC1201A-P, and
MC1101A-P Motion Processors.

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.

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

Idd

Supply Current

100

open outputs

Input Voltages

Vih

Logic 1 input voltage

2.0

Vcc + 0.3

Vil

Logic 0 input voltage

-0.3

0.8

Vihclk

Logic 1 voltage for clock pin

(ClkIn)

3.0

Vcc+0.3

Vihreset

Logic 1 voltage for reset pin

(reset)

4.0

Vcc+0.3

Output Voltages

Voh

Logic 1 Output Voltage

2.4

@CP Io = 300 uA

@I/O Io = 4 mA

Vol

Logic 0 Output Voltage

0.33

@CP Io = 2 mA
@I/O Io = 4 mA

Iout

Tri-State output leakage current

-20

0 < Vout < Vcc

Iin

Input current

-50

0 < Vi < Vcc

Iinclk

Input current ClkIn

-20

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

Min.

Max.

Units

Encoder and Index Pulse Timing
Motor-Phase Pulse Width

1.6

Dwell Time Per State

0.8

Index Pulse Setup and Hold
(relative to Quad A and Quad B low)

Reset Timing
Stable Power to Reset

0.25

Sec

Reset Low Pulse Width

1.0

Clock Timing
Clock Frequency (Fclk)

6.7

25.6

Mhz

Clock Pulse Width

19.5

75 (note 2)

Clock Period

149 (note 2)

Электронный компонент: MC1401

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