MC1141A Chipset Datasheet

MC1141A Datasheet, PDF, Equivalent


Part Number

MC1141A

Description

(MC1141A / MC1241A) Advanced Microstepping Motion Control Chipset

Manufacture

Performance Motion Devices

Total Page 30 Pages
Datasheet
Download MC1141A Datasheet


MC1141A
Advanced Microstepping
Motion Control Chipset
MC1241A
MC1141A
Features
Internal generation of microstepping signals
2-phase as well as 3-phase stepper motors
64 microsteps per full step
S-curve, trapezoidal, and velocity profile
trajectory modes
Incremental encoder feedback
On-the-fly motor stall detection
Software & feature compatible with other
versions of PMD's chipset family
Available in 1 or 2 axis configurations
32-bit position, velocity, acceleration and jerk
trajectory profile registers
Electronic Gearing
Two travel-limit switches per axis
Choice of PWM or DAC motor output signals
Chipset Developer's Kit Available
Microstepping Waveforms
2-Phase Stepper
Phase A Phase B
90 Deg
64
Phase A
128 192 256
3-Phase Stepper
Phase B
Phase C
Microsteps
320
120 Deg
General Description
The MC1241A is a dedicated motion processor which functions as a
complete chip-based stepper motor controller. Packaged in a 2-IC
chipset, this device performs trajectory profile generation and
microstepping signal generation. The chipset outputs PWM or
DAC-compatible motor command signals which directly drive the
windings of the stepping motor, eliminating the need for external
microstepping circuitry. The MC1241A also provides the ability to
input incremental encoder signals. It is available in a one, or a two-axis
configuration.
The MC1241A is functionally similar to other members of PMD's 1st
Generation Motion Processor Family however it adds the ability to
perform micrstepping signal generation. All of these devices provide
sophisticated trajectory generation allowing the creation of complex
motion sequences.
Both two and three-phase stepping motors are supported by the
MC1241A. An internal ROM-based lookup table is used to generate
the microstepping waveforms. The motor power level can be controlled
with a resolution of 16 bits. Changes to the motor power level can be
coordinated with other profile changes to optimize motor heat
dissipation under different load and acceleration conditions.
www.DataSheet4U.comThe 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. 11.03, Nov 1997
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com
www.DataSheet4U.com

MC1141A
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
MC1241A, MC1141A Pinouts............................... 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
Parameter Loading & Updating ............................ Page 22
Manual Update ................................................. Page 22
Breakpoints....................................................... Page 23
Disabling Automatic Profile Update .................. Page 23
Travel Limit Switches........................................ Page 23
Axis Timing ........................................................... Page 24
Host Communications .......................................... Page 25
Electrical Interface ............................................ Page 25
Packet Format .................................................. Page 25
Packet Checksum............................................. Page 26
Illegal Commands............................................. Page 26
Command Errors .............................................. Page 26
Axis Addressing................................................ Page 27
Axis Status............................................................ Page 27
Status Word...................................................... Page 27
Miscellaneous Mode Status Word .................... Page 27
Host Interrupts.......................................................Page 28
Encoder Position Feedback ..................................Page 29
High Speed Position Capture............................Page 29
Position Capture ReadBack ..............................Page 29
Stall Detection ...................................................Page 29
Position Error ....................................................Page 30
Recovering From A Motion Error ......................Page 30
Microstepping........................................................Page 30
Microstepping Waveforms.................................Page 31
Motor Command Control...................................Page 31
AC Induction Motor Control...............................Page 31
Command Summary .........................................Page 32
Motor Output .........................................................Page 32
Motor Output Signal Interpretation ....................Page 32
DAC16 Decoding...............................................Page 32
PWM Decoding .................................................Page 32
Motor Drive Configurations ...............................Page 33
3-Phase Drive Configuration .............................Page 33
Host Commands .....................................................Page 34
Command Summary .............................................Page 34
Command Reference ............................................Page 36
Axis Control.......................................................Page 36
Profile Generation .............................................Page 37
Parameter Update.............................................Page 41
Interrupt Processing ..........................................Page 43
Status/Mode ......................................................Page 44
Motor Control ....................................................Page 45
Encoder.............................................................Page 46
Miscellaneous ...................................................Page 48
Microstepping....................................................Page 49
Application Notes ...................................................Page 52
Interfacing MC1241A to ISA bus...........................Page 52
PWM Motor Interface ............................................Page 54
16-Bit Serial DAC Motor interface .........................Page 56
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..
2


Features Advanced Microstepping Motion Control Ch ipset Features Internal generation of m icrostepping signals 2-phase as well as 3-phase stepper motors 64 microsteps p er full step S-curve, trapezoidal, and velocity profile trajectory modes Incre mental encoder feedback On-the-fly moto r stall detection Software & feature co mpatible with other versions of PMD's c hipset family Available in 1 or 2 axis configurations 32-bit position, velocit y, acceleration and jerk trajectory pro file registers Electronic Gearing Two t ravel-limit switches per axis Choice of PWM or DAC motor output signals Chipse t Developer's Kit Available MC1241A MC 1141A General Description The MC1241A is a dedicated motion processor which f unctions as a complete chip-based stepp er motor controller. Packaged in a 2-IC chipset, this device performs trajecto ry profile generation and microstepping signal generation. The chipset outputs PWM or DAC-compatible motor command si gnals which directly drive the windings of the stepping motor, .
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