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MC1451A View Datasheet(PDF) - PMD

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MC1451A Datasheet PDF : 70 Pages
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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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