MC1131A 반도체 회로 부품 판매점
(MC1231A / MC1131A) Advanced Brushless Motor Control Chipset
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 PMD |
Advanced Brushless Motor MC1231A
Control Chipset
MC1131A
Features
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
Commutation Waveforms
Phase A
3-Phase Brushless
Phase B
Phase C
Phase A
2-Phase Brushless
Phase B
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
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 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..
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