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2 / 70 page 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.. |
Nº de peça semelhante - MC1401A |
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Descrição semelhante - MC1401A |
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