MC1151A PMD, MC1151A Datasheet
MC1151A
Related parts for MC1151A
MC1151A Summary of contents
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... The chipset is packaged in 2 68-pin PLCC packages. An Axis optional third 44 pin PLCC chip provides encoder input. All (MC1451A only) chips are CMOS and are powered by 5 volts. Axis (MC1451A only) MC1451A, MC1451A-E MC1251A, MC1251A-E MC1151A, MC1151A-E Doc. Rev. 12.02, Nov. 1997 ...
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... 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 ...
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... MC1451 series (MC1451A, MC1251A, MC1151A, MC1451A-E, MC1251A-E, MC1151A-E) - These chipsets provide very high speed pulse and direction signal output appropriate for driving step motor- based systems. They are available in a one, two, or four-axis version and are also available with quadrature encoder input ...
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... CPCntr2 CPCntr3 CPWrite CPClk CPReset For a complete description of all pins see the 'Pin Descriptions' section of this manual. Unless specifically noted otherwise, the term 'MC1451' or 'MC1451A' refers to the MC1451A, MC1251A, MC1151A, MC1451A- E, MC1251A-E, and MC1151A-E Motion Processors. 4 I/O CP Chip CP ENC Chip Chip ...
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... Clock Frequency (Fclk) Clock Pulse Width Clock Period Operating Ratings Operating Temperature, Ta .................0 deg +70 deg. C* Nominal Clock Frequency, Fclk ...........25.0 Mhz Supply Voltage, Vcc.............................4. 5. Industrial and Military operating ranges also available. Contact your PMD representative for more information. Min. Max. 4.75 5.25 100 2.0 Vcc + 0.3 -0 ...
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... HostCmd may optionally be de-asserted if setup and hold times are met. note 2 Chip-set performance figures and timing information valid at Fclk = 25.0 only. For timing information & performance parameters at Fclk < 25.0 Mhz, call PMD. note 3 Two micro seconds maximum to release interface before chip set responds to command note 4 ClkOut from CP is 1/4 frequency of ClkIn (CP chip) ...
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I/O Timing Diagrams The following diagrams show the MC1451A electrical interface timing. T#' values are listed in the above timing chart. Quad A Quad B ~Index ClkIn Quadrature Encoder Input Timing Clock Timing T4 ...
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HostCmd ~HostWrite HostData0-7 HostRdy Command Byte Write TIming T7 T8 T14 T15 T16 T13 ...
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T7 ~HostSlct T8 HostCmd ~HostRead High-Z HostData0-7 T10 HostRdy Data Word Read TIming Note 1 Note 1 T17 T12 High-Z High Byte T11 High-Z Low Byte T13 ...
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T7 ~HostSlct T8 HostCmd ~HostWrite HostData0-7 HostRdy Data Word Write TIming Note 1 Note 1 T18 T14 T15 High Byte T16 T14 T15 Low Byte T16 T13 ...
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Pinouts I/O (Top view 21, 25, 38, 55 VCC CPCntrl2 CPCntrl3 HostCmd 28 Pulse1 HostRdy 42 Dir1 HostRead 13 Home1 HostWrite 26 Pulse2 HostSlct 30 Dir2 HostIntrpt 23 Home2 HostData0 40 Pulse3 ...
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... I/OCntrl0 I/OAddr0 64 I/OCntrl1 18 I/OAddr1 60 68 I/OCntrl2 I/OAddr2 18 67 I/OCntrl3 I/OAddr3 5 I/OWrite 6 PosLimit1 7 PosLimit2 8 NegLimit1 17 NegLimit2 GND 3, 34 MC1151A & MC1151A-E Pinouts 4, 22, 33 VCC Data2 47 Data3 48 Data4 44 Data5 50 Data6 56 AtRest1 61 Data7 24 ClkIn 53 Data8 19 ClkOut 65 CP Data9 17 Reset ...
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... NOTE: For MC1451A all 4 pins are valid. For MC1251A pins for axes 1 & 2 only are valid. For MC1151A pin for axis 1 only is valid. Invalid axis pins can be left unconnected. I/O chip clock (input). This signal is connected directly to the ClkOut pin (CP chip) and provides the clock signal for the I/O chip ...
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... If not used these signals should be tied low for the default interpretation, or tied high if the interpretation is reversed. NOTE: For MC1451A all 4 pins are valid. For MC1251A pins for axes 1 & 2 only are valid. For MC1151A pin for axis 1 only is valid. Invalid axis pins can be left un connected. 14 ...
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... NOTE: For MC1451A all 4 pins are valid. For MC1251A pins for axes 1 & 2 only are valid. For MC1151A pin for axis 1 only is valid. Invalid axis pins can be left un connected. Clock In (input). This pin provides the chip set master clock (Fclk = 25.0 Mhz) Clock Out (output) ...
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... NOTE: For MC1451A-E all 8 pins are valid. For MC1251A-E pins for axes 1 & 2 only are valid. For MC1151A-E pins for axis 1 only are valid. Invalid axis pins can be left unconnected. ENC chip clock (input). This signal is connected directly to the I/OClkOut pin (CP chip) and provides the clock signal for the ENC chip ...
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Theory of Operations Motor Output Signals Home Step Direction Input 1/a 1/a 1/a Pulse & Direction Generator (1-4) I/O Chip Host I/O controller Control Data host interrupt Host I/O The above figure shows an internal block diagram ...
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... MCounts/sec (MC1451A-E, MC1251A-E, MC1151A-E chipsets only) Encoder Feedback Modes: Manual position read (host queries position) (MC1451A-E, MC1251A-E, MC1151A-E chipsets only) Automatic stall detection (stall detected on-the-fly) (MC1451A-E, MC1251A-E, MC1151A-E chipsets only) Stall detection counts/steps ratio 1/256 - 127 encoder counts/step (MC1451A-E, MC1251A-E, MC1151A-E chipsets only) ...
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The profile mode may be programmed independently for each axis. For example axis #1 may be in trapezoidal point to point mode while axis # S-curve point to point. Generally, the axis should be at rest when switching ...
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See the section of this manual entitled "Command Error" for more information.. Before switching to the S-curve point to point profile mode, the axis should ...
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In this profile mode the host specifies two parameters, the commanded acceleration, and the maximum velocity. The trajectory is executed by continuously accelerating ...
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In addition the form of the deceleration is symmetric to the acceleration phase. For example if the profile mode is S-curve, and a SMOOTH_STOP command is given, the profile will ...
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Executing this command has the same affect as instantaneously switching to each desired axes, and executing an UPDATE command. Breakpoints A breakpoint is a convenient way of programming ...
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STOP ; load (but do not update) a stop command This sequence will start a homing move which will stop as soon as the axis encounters the home switch the case for all of the breakpoint modes, the ...
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Therefore we would send a value of 485 (decimal) to the chipset. All MC1451-series chips have the same cycle time (330 uSec), which is not adjustable by the host. Host Communications Electrical Interface The MC1451A communicates ...
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Read Command Time --> --> --> Cmd Write: Cmd byte Data Write: Data Read: Word 1 [Word 2] [pkt checksum Indicates an optional operation Packet Checksum The above charts show that at the end of each packet, a ...
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SET_1 -> sets current axis to #1 SET_ACCEL 00001234 -> loads current axis (#1) with acceleration value 1234 UPDATE -> causes the loaded value to take effect (axis # 1) Axis Status The MC1451A supports a status word for each ...
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Host Interrupts In many situations, during axis motion or at other times useful to have the chip set signal the host that a special condition has occurred. This is generally more convenient and efficient than having the host ...
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Note that it is not required to process multiple interrupts separately (as is shown in the example perfectly valid to process 2 or more interrupt conditions at the same time, and to then send a RST_INTRPT command with ...
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Each quadrature channel consists of a square wave offset 90 deg. from the other. Positive motion consists of the A channel leading the B channel by 90 deg., and negative motion consists of the A channel lagging the B channel ...
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Resetting the position error is useful not only for motion error recovery but also when the coordinate system is changed. Several commands reset the position error to zero. These commands are SET_ACTL_POS, which sets the actual as well as the ...
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Command Summary Command Mnemonic Code Available (hex) Axis Control SET_1 01 all axes SET_2 02 all axes SET_3 03 all axes SET_4 04 all axes SET_I 08 all axes Profile Generation SET_PRFL_S_CRV 0b all axes SET_PRFL_TRAP 09 all axes SET_PRFL_VEL ...
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Command Mnemonic Code Available (hex) Interrupt Processing SET_INTRPT_MASK 2f all axes GET_INTRPT 30 all axes RST_INTRPT 32 all axes GET_INTRPT_MASK 56 all axes Status/Mode CLR_STATUS 33 all axes RST_STATUS 34 all axes GET_STATUS 31 all axes GET_MODE 48 all axes ...
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Command Reference Each command consists of a single byte, with a command code value as described in the "encoding" description for each command. Data is transmitted to/from the chip set in 16-bit words. All data is encoded "high to low" ...
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SET_4 Set current axis to #4 Data/direction: 1/read Encoding: 04 (hex) Axis acted on: set by command Available on: all axes Double buffered: No SET_4 changes the current axis number to 4. All commands that operate on the current axis ...
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... There are no host-specified limits to axis motion in this mode the responsibility of the host to specify a gear ratio that maintains the axis within safe motion limits. This command is available on the MC1451A-E, MC1251A-E, and MC1151A-E parts only. SET_POS Set command position Data/direction 2/write ...
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... The SYNCH_PRFL command does not set the target velocity to zero desired that the axis not move after a SYNCH_PRFL command then a STOP command, in addition to the SYNCH_PRFL command should be used. This command is available on the MC1451A-E, MC1251A-E, and MC1151A-E parts only. GET_POS Get command position Data/direction: 2/read ...
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... The returned ratio is a signed 32-bit number in 1/2 16 format. This command is available on the MC1451A-E, MC1251A-E, and MC1151A-E parts only. GET_START_VEL Get starting velocity Data/direction: 2/read ...
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... After this breakpoint condition has been satisfied, the breakpoint mode is reset i.e. no additional breakpoints will occur until a new breakpoint condition is set. This command is available on the MC1451A-E, MC1251A-E, and MC1151A-E parts only. 39 ...
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SET_MTN_CMPLT_BRK Set break point mode to motion complete Data/direction: none Encoding: 35 (hex) Axis acted on: current axis Available on: all axes Double buffered: no SET_MTN_CMPLT_BRK sets the current breakpoint mode to motion complete. In this mode the breakpoint condition ...
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SET_AUTO_UPDATE_ON Set automatic profile update on Data/direction: none Encoding: 5c (hex) Axis acted on: current Available on: all axes Double buffered: no SET_AUTO_UPDATE_ON sets the automatic profile update mechanism on. After this command is sent, a satisfied breakpoint condition will ...
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RST_INTRPT Reset interrupting condition events Data/direction: 1/write Encoding: 32 (hex) Axis acted on: interrupting axis Available on: all axes Double buffered: no RST_INTRPT resets (clears) the interrupt condition bits for the axis that caused a host interrupt by masking the ...
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... In this mode the maximum pulse rate output by the chipset is 1.5625 megapulses/sec. This command only affects the current axis. Unlike the output mode control commands for PMD's servo chips (SET_OUTPUT_PWM cmd, SET_OUTPUT_DAC16 cmd), this command does not act globally, but on the current axis only. This allows different pulse ranges to be executed on different axes ...
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... N steps is the number of output steps per motor rotation (12,800 for a 1.8 degree stepper, 3,200 for a 7.2 degree stepper). Using this equation the resultant ratio must be an exact integer. This command is available for the MC1451A-E, MC1251A-E, and MC1151A-E parts only. GET_STEP_RATIO Get number of encoder counts per step Data/direction: none ...
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... SET_STEP_RATIO command). The returned value is a signed 16-bit number with units of encoder counts. The range is -32,768 to +32,767. This command is available for the MC1451A-E, MC1251A-E, and MC1151A-E parts only. Miscellaneous SET_ACTL_POS Set actual axis position Data/direction: ...
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... Axis 2 home signal (1 = high) 2 Axis 3 home signal (1 = high) 3 Axis 4 home signal (1 = high) 4-15 not used (set to 0) The above bits are encoded as shown for the MC1451A. For the MC251A axis 3 and 4 are not used. For the MC1151A axes 2, 3, and 4 are not used. 46 ...
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RESET Reset chip set Data/direction: none Encoding: 39 (hex) Axis acted on: global (all axes) Available on: all axes Double buffered: No RESET resets the entire chip set. This command performs the same sequence as a hardware reset. At the ...
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... The rest of the data bits are left floating and should be ignored. B+8 and IOW* generate a reset pulse which will init the interface by clearing the two write registers and outputs a reset pulse, -RS, for the CP chip. The reset instruction is OR'd with RESET on the bus to initialize the PMD chip set when the PC is reset. 48 ...
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49 ...
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NOTES 50 ...
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... Open loop (uses trajectory generator, pulse generator) Stall detection (uses trajectory generator, pulse generator and encoder feedback for stall detection) ...