Features
Available in 1-axis configuration.
6-step (Hall-based) or sinusoidal commutation.
Supports 2 or 3-phase brushless motors.
Motion profiles include S-curve, trapezoidal, and velocity contouring.
Asymmetric acceleration and deceleration to custom program a trapezoidal motion profile.
Advanced PID filter with velocity and acceleration feedforward, bias offset and 32-bit position error.
Velocity and acceleration changes on-the-fly for trapezoidal and velocity contouring profiles.
Incremental encoder quadrature input and parallel input for absolute encoder or resolver.
Serial (point-to-point or multi-drop) communications interface.
Trace capabilities for system performance checks, servo-tuning, maintenance and diagnostics.
9-bit, 20kHz PWM or 16-bit DAC motor control output to amplifier.
Advanced breakpoint capability allows precise sequencing of events.
PLC-style programmable inputs and outputs, including one programmable input and one output.
256 16-bit word I/O locations for user defined peripherals.
8 general-purpose analog inputs.
Two-directional limit switches, index input, and home indicator.
Axis settled indicator and tracking window in addition to automatic motion error detection.
Comprised of a single 132-pin device (surface mount CMOS technology).
Available in commercial and industrial temperature versions.
Pilot
TM
Motion Processor
For Brushless Servo Motion Control
MC3310
The Pilot single-axis, single chip motion processor for brushless servo motor con-
trol is ideal for embedded systems for industrial control, automation and robotic
applications. The chip is a 132-pin device, surface mount CMOS technology and
powered by 5 volts. The motion processor is driven by a host microprocessor
through an asynchronous bi-directional serial port, giving users the ability to
offload resource intensive motion control functions from the application's host.
The MC3310 provides sinusoidal commutation of 2 or 3-phase brushless motors.
Initialization is achieved using Hall-based sensors or with the motion processor's
own algorithm. In addition, the chip accepts incremental quadrature encoder
signals for position input, and outputs the sinusoidally commutated motor signals.
The motion processor has a pre-programmed PID filter with feedforward velocity
and acceleration that can be scaled and a bias offset. The chip also supports a
32-bit position error. The PID filter operates at 150 sec loop cycle time.
Trace capabilities provide on-the-fly data storage to an external RAM for
analyzing system performance, tuning servo filters, and performing maintenance
and diagnostics.
With over 150 commands, PMD's instruction set offers flexibility and versatility to
board designers and software applications programmers. Instructions are used to
initialize and control the motion processor. User selectable profiling modes sup-
ported by the motion processor include S-curve, trapezoidal, and velocity
contouring. The MC3310 accepts input parameters such as position, velocity,
and acceleration from the host and generates a corresponding trajectory.
The motion processor accepts feedback from an incremental encoder at 5
megacounts per second or from an absolute encoder or resolver at 160
megacounts per second. 16-bit DAC or 9-bit, 20kHz PWM compatible output
signals are supported.
Multiple breakpoints offer precise sequencing and control of events by the appli-
cation program. PLC-style instructions are provided which operate on inputs and
set outputs. The instructions use Event, Activity and Signal registers. Input signals
include two limit switches (one for each direction of travel), home indicator and
a general-purpose programmable input. One general-purpose programmable
output signal is also provided. Eight general-purpose analog (0-5 V), and 256
(16-bit wide) general-purpose discrete inputs/outputs are available.
General Description
Host
Processor
MC3310
Single axis
Single chip
Motion Processor
Amp
Motor
Encoder
Typical Configuration
Available configurations
1 axis
Operating modes
Closed loop (motor command is driven from output of servo filter)
Open loop (motor command is driven from user-programmed register)
Position range
-2,147,483,648 to +2,147,483,647 counts
Velocity range
-32,768 to +32,767 counts/sample with a resolution
of 1/65,536 counts/sample
Acceleration and deceleration ranges -32,768 to +32,767 counts/sample
2
with a resolution
of 1/65,536 counts/sample
2
Jerk range
0 to 1/2 counts/sample
3
, with a resolution of 1/ 4,294,967,296 counts/sample
3
Profile modes
S-curve point-to-point (Velocity, acceleration, jerk and position parameters)
Trapezoidal point-to-point (Velocity, acceleration, deceleration, and
position parameters)
Velocity-contouring (Velocity, acceleration, and deceleration parameters)
Filter Modes
Scalable PID + velocity feedforward + acceleration feedforward + bias
Also includes integration limit, settable derivitive sampling time, and output motor
command limiting
Filter parameter resolution
16 bits
Motor output modes
PWM: 9-bit resolution at 20 kHz
DAC: 16 bits
Maximum encoder rate
Incremental: Up to 5 Mcounts/sec
Parallel-word: Up to 160.0 Mcounts/sec
Parallel encoder word size
16 bits
Parallel encoder read rate
20 kHz
Hall sensor inputs
3 Hall effect inputs (TTL level signals)
Commutation rate
20 kHz
Servo loop timing range
153 sec to 3355 msec
Minimum servo loop time
153 sec (nominal; exact time is 153.6 sec)
Limit switches
2; one for each direction of travel
Position-capture triggers
2; index and home signals
Analog input
8 10-bit analog inputs
User-defined discrete I/O
256 16-bit wide user-defined I/O
Number of host Instructions
152
Environmental and Electrical Ratings
Storage Temperature (Ts)
-55 C to 150 C
Operating Temperature (Ta)
0 C to 70 C*
Power Dissipation (Pd)
650 mW
Nominal Clock Frequency (Fclk)
20.0 MHz
Supply Voltage Limits (Vcc)
-0.3 V to +7.0 V
Supply Voltage Operating Range (Vcc) 4.75 V to 5.25 V
* An industrial version with an operating range of -40C to 85C is also available. Please contact PMD for more information.
Performance Motion Devices, Inc.
12 Waltham Street
Lexington, MA 02421
tel: 781.674.9860
fax:781.674.9861
e-mail: info@pmdcorp.com
www.pmdcorp.com
Navigator, Pilot and C-Motion are trademarks
of Performance Motion Devices, Inc. All other
trademarks, tradenames and company names
are the property of their respective owners.
2001 Performance Motion Devices, Inc.
MC3310DS1.0-101
Technical Specifications
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