MC1151A PMD, MC1151A Datasheet - Page 18

• Manufacturer Part Number: MC1151A
• Description: (MC1x51A) Advanced Step Motor Control Chipset
• Manufacturer: PMD

Available configurations:
Position Range:
Velocity Range:
Acceleration Range:
Jerk Range:
Start velocity range
Trajectory Profile Generator Modes:
Electronic Gear Ratio Range:
Motor output signals
Max. pulse rate
Encoder Input Signals:
Maximum Encoder Input Rate:
Encoder Feedback Modes:
Stall detection counts/steps ratio
range:
Cycle loop rate:
# of limit switches per axis
Per axis hardware control lines
# of Host commands:
*exact time is 327.68 uSec, 330 is an approximation
Trajectory Profile Generation
The trajectory profile generator performs calculations to determine the
target position, velocity and acceleration at each calculation cycle.
These calculations are performed taking into account the current profile
mode, as well as the current profile parameters set by the host. Four
trajectory profile modes are supported:
- S-curve point to point
- Trapezoidal point to point
- Velocity contouring
- Electronic Gear
MC1451-Series Chipset Operational Parameters
MC1451A 4 axis step and direction motion chipset
MC1251A 2 axis step and direction motion chipset
MC1151A 1 axis step and direction motion chipset
MC1451A-E 4 axis step and direction motion chipset with quadrature input
MC1251A-E 2 axis step and direction motion chipset with quadrature input
MC1151A-E 1 axis step and direction motion chipset with quadrature input
-1,073,741,824 to 1,073,741,823 steps
-16,384 to 16,383 steps/cycle with a resolution of 1/65,536 steps/cycle
S-curve profile: - 1/2 to + 1/2 steps/cycle with a resolution of 1/65,536 steps/cycle .
All others: -16,384 to 16,383 steps/cycle with a resolution of 1/65,536 steps/cycle
-1/2 to +1/2 steps/cycle, with a resolution of 1/4,294,967,296 steps/cycle
-32,768 to +32,767 steps/cycle with a resolution of 1/65,536 steps/cycle
S-curve (host commands final position, max velocity, max acceleration, and jerk)
Trapezoidal (host commands final position, max velocity, starting velocity, and acceleration)
Velocity contouring (host commands max velocity, starting velocity, acceleration)
Electronic Gear (Encoder position is used as position command for corresponding axis).
32768:1 to 1:32768 (negative and positive direction)
Pulse and direction (1 each per axis)
standard speed range: 48.828 Kpulses/sec
high speed range: 1.5625 Mpulses/sec
A, B quadrature signals (MC1451A-E, MC1251A-E, MC1151A-E chipsets only)
1.25 MCounts/sec (MC1451A-E, MC1251A-E, MC1151A-E chipsets only)
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)
1/256 - 127 encoder counts/step (MC1451A-E, MC1251A-E, MC1151A-E chipsets only)
330 uSec*
2 (one for each direction of travel)
Home signal (one per axis)
Limit Switch (two per axis)
At rest signal (one per axis, output to amplifier)
72
(used with trapezoidal and velocity profile modes only)
(available only with MC1451A-E, MC1251A-E, MC1151A-E chipsets)
18
The commands to select these profile modes are
Throughout this manual various command mnemonics will be
shown to clarify chipset usage or provide specific examples. See
the Host Communications section for a description of host
command nomenclature.
SET_PRFL_S_CRV (to select the s-curve mode), SET_PRFL_TRAP
(to select the trapezoidal mode) SET_PRFL_VEL (to select the
velocity contouring mode) and SET_PRFL_GEAR (to select the
electronic gear mode).