MC1151A Chipset Datasheet

MC1151A Datasheet, PDF, Equivalent


Part Number

MC1151A

Description

(MC1x51A) Advanced Step Motor Control Chipset

Manufacture

PMD

Total Page 30 Pages
Datasheet
Download MC1151A Datasheet


MC1151A
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Advanced Step Motor MC1451A, MC1451A-E
Control Chipset
MC1251A, MC1251A-E
MC1151A, MC1151A-E
Features
Advanced control of up to 4 step motors
per chipset
High speed pulse and direction output
S-curve, trapezoidal, velocity contouring,
and electronic gearing trajectory modes
Optional incremental encoder feedback
Software & feature compatible with other
versions of PMD's chipset family
Available in 1, 2, or 4 axis configurations
32-bit position, velocity, acceleration and
jerk trajectory profile registers
Pulse and direction output for each axis at
up to 1.5 Mpulses/sec
On-the-fly stall detection
Two travel-limit switches per axis
External motion breakpoint per axis
Intelligent easy-to-use packet-oriented
command protocol
Programmable pulse output modes
Chipset Developer's kit available
Typical Configuration
Host
Processor
General Description
The MC1451A is a dedicated motion processor which functions
as a complete chip-based step motor controller. Packaged in a
2-IC chipset, this device performs trajectory generation and
pulse and direction signal generation for use in a wide variety of
stepper-based systems. The MC1451A provides an optional
third IC which allows incremental encoder signal input for
position verification and on-the-fly stall detection. The MC1451A
is available in a one, a two, and a four-axis configuration.
The MC1451A is functionally similar to other PMD motion
processors however it is dedicated to the control of step motors,
instead of servo motors. All of these devices provide
sophisticated trajectory generation and synchronization features
allowing the creation of complex motion sequences.
Amp
M E Axis 1
In addition to pulse and direction circuitry which can output at
up to 1.5 megapulses per second the chipset provides two limit
switches per axis, a programmable external signal breakpoint
per axis, and an 'At Rest' output signal.
MC1451A
(I/O & CP
& ENC)
Amp
Amp
M E Axis 2
The chipset is controlled by a host processor which interfaces
with the chipset via an 8-bit bi-directional port. Communications
(MC1451A, MC1251A to/from the chipset consist of packet-oriented messages. A host
only) interrupt line is provided so that the chipset can signal the host
when special conditions occur such as stall detection.
M E Axis 3
(MC1451A only)
The chipset is packaged in 2 68-pin PLCC packages. An
optional third 44 pin PLCC chip provides encoder input. All
chips are CMOS and are powered by 5 volts.
Amp M E Axis 4
(MC1451A only)
Doc. Rev. 12.02, Nov. 1997
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com

MC1151A
Table of Contents
Product Family Overview....................................... Page 3
Introduction........................................................... Page 3
Family Summary................................................... Page 3
Electrical Characteristics....................................... Page 4
Absolute Maximum Ratings.................................. Page 5
Operating Ratings................................................. Page 5
DC Electrical Characteristics ................................ Page 5
AC Electrical Characteristics ................................ Page 5
I/O Timing Diagrams............................................. Page 7
Pinouts .................................................................... Page 11
MC1451A.............................................................. Page 11
MC1251A, MC1151A............................................ Page 12
Pin Descriptions.................................................... Page 13
Theory of Operations ............................................. Page 17
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
External Breakpoints and Homing .................... Page 23
Disabling Automatic Profile Update .................. Page 24
Travel Limit Switches............................................ Page 24
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 26
Axis Status ............................................................Page 27
Status Word ......................................................Page 27
Miscellaneous Mode Status Word.....................Page 27
Host Interrupts.......................................................Page 28
Pulse & Direction Signal Generation.....................Page 29
Pulse Generation Control...........................................Page 29
At Rest Indicator.........................................................Page 29
Encoder Position Feedback ..................................Page 29
Stall Detection............................................................Page 30
Position Error .............................................................Page 30
Recovering From A Motion Error ...............................Page 30
Host Commands .....................................................Page 32
Command Summary .............................................Page 32
Command Reference ............................................Page 34
Axis Control.......................................................Page 34
Profile Generation .............................................Page 35
Parameter Update.............................................Page 39
Interrupt Processing ..........................................Page 41
Status/Mode ......................................................Page 42
Pulse Generation ..............................................Page 43
Encoder.............................................................Page 44
Miscellaneous ...................................................Page 45
Application Notes ...................................................Page 48
ISA bus interfacing ................................................Page 48
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 www.DataSheet4U.com Advanced Step Motor Control Chipset Features Advanced cont rol of up to 4 step motors per chipset High speed pulse and direction output S -curve, trapezoidal, velocity contourin g, and electronic gearing trajectory mo des Optional incremental encoder feedba ck Software & feature compatible with o ther versions of PMD's chipset family A vailable in 1, 2, or 4 axis configurati ons 32-bit position, velocity, accelera tion and jerk trajectory profile regist ers Pulse and direction output for each axis at up to 1.5 Mpulses/sec On-the-f ly stall detection Two travel-limit swi tches per axis External motion breakpoi nt per axis Intelligent easy-to-use pac ket-oriented command protocol Programma ble pulse output modes Chipset Develope r's kit available MC1451A, MC1451A-E M C1251A, MC1251A-E MC1151A, MC1151A-E G eneral Description The MC1451A is a ded icated motion processor which functions as a complete chip-based step motor co ntroller. Packaged in a 2-IC chipset, this device performs traj.
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