PilotTM Motion Processor For Microstepping Motion Control MC3410 Features * Available in 1-axis configuration. * Supports 2 and 3-phase stepping motors. * Programmable microstepping rate from 1 to 256 microsteps per full step. * Motion profiles include S-curve, trapezoidal, and velocity contouring. * Asymmetric acceleration and deceleration to custom program a trapezoidal motion profile. * Velocity and acceleration changes on-the-fly for trapezoidal and velocity contouring profiles. * Incremental encoder quadrature input and parallel input for absolute encoder or resolver for on-the-fly motor stall detection. * Serial (point-to-point or multi-drop) communications interface. * Trace capabilities for system performance checks, maintenance, and diagnostics. * Encoder rate of 5.0 Mcounts/sec allows use of fine resolution feedback devices for reading motor position. * 8-bit, 80kHz PWM* or 16-bit DAC motor output to amplifier. * Advanced breakpoint capability allows precise sequencing of events. * PLC-style programmable inputs and outputs, including a per-axis programmable input and output. Host Processor * 256 16-bit word I/O locations for user-defined peripherals. Typical Configuration * 8 general-purpose 10-bit analog inputs. * Two directional limit switches, index input, and home indicator. * Axis settled indicator and tracking window in addition to automatic motion error detection. * Comprised of a 132-pin device (surface mount CMOS technology). * Available in commercial and industrial temperature versions. MC3410 Single axis Single chip Motion Processor Amp Motor Optional Encoder General Description The Pilot MC3410 single-axis, single chip motion processor for microstepping motion control is ideal for embedded systems in industrial control, automation, and robotic applications. The chip is a 132-pin device, surface mount CMOS technology and powered by 5 volts. The motion processor is driven by a host microprocessor through an asynchronous bi-directional serial port, giving users the ability to offload resource intensive motion control functions from the application's host. The MC3410 outputs the PWM or DAC-compatible motor command signal needed to directly drive the windings of a stepping motor. A programmable microstepping rate can be specified to designate the desired number of microsteps per full step, from 1 to 256. The chip operates in an open loop mode where the motor command is driven from the output of the trajectory generator. Optional encoder feedback provides on-the-fly motor stall detection and allows the chip to detect when the stepping motor has lost steps during a motion. Trace capabilities provide on-the-fly data storage for analyzing system performance and performing maintenance and diagnostics. * 10-bit, 20kHz PWM output version also available. With over 115 commands, PMD's instructions set offers flexibility and versatility to board designers and software application programmers. Instructions are used to initialize and control the motion processor. User-selectable profiling modes supported by the motion processor include S-curve, trapezoidal, and velocity contouring. The MC3410 accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory. The motion processor accepts feedback from an incremental encoder, up to 5 megacounts per second, or from an absolute encoder or resolver, up to 160 megacounts per second, to read the current position. 16-bit DAC or 8-bit, 80kHz PWM*-compatible output signals are supported. Multiple breakpoints offer precise sequencing and control of events by the application program. PLC-style instructions are provided, which operate on inputs and set outputs. The instructions use Event, Activity, and Signal registers. Input signals include two limit switches (one for each direction of travel), home indicator, and a general-purpose programmable input. One general-purpose programmable output signal is also provided. Eight general-purpose analog (0-5 V) and 256 (16-bit wide) general-purpose discrete inputs/outputs are available. Technical Specifications Available configurations 1 axis Operating modes Open loop (motor command is driven from output of trajectory generator and microstep generator, encoder input used for stall detection) Position range -2,147,483,648 to +2,147,483,647 counts Velocity range -32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample Acceleration and deceleration ranges -32,768 to +32,767 counts/sample2 with a resolution of 1/65,536 counts/sample2 Performance Motion Devices, Inc. 12 Waltham Street Lexington, MA 02421 Jerk range 0 to 1 counts/sample3, with a resolution of 1/ 4,294,967,296 counts/sample3 Profile mode S-curve point-to-point (Velocity, acceleration, jerk and position parameters) Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position parameters) Velocity-contouring (Velocity, acceleration, and deceleration parameters) Motor output modes PWM: 80kHz, 8-bit * DAC: 16 bits Commutation rate 20 kHz Maximum encoder rate Incremental: 5 Mcounts/sec Parallel-word: 160.0 Mcounts/sec Parallel encoder word size 16 bits Parallel encoder read rate 20 kHz (reads axis every 50sec) Profile calculation timing range 150 sec to 3,355 msec Minimum profile calculation time 150 sec nominal (exact time is 153.6 sec) Limit switches 2; one for each direction of travel Position-capture triggers 2; index and home signals Capture trigger latency 50 nsec Analog input 8 10-bit analog inputs User-defined discrete I/O 256 16-bit wide user-defined I/O Number of host instructions 116 * The MC3410 can also be ordered with a 20kHz, 10-bit PWM output. Contact PMD for information. tel: 781.674.9860 fax:781.674.9861 e-mail: info@pmdcorp.com www.pmdcorp.com Environmental and Electrical Ratings Navigator, Pilot and C-Motion are trademarks of Performance Motion Devices, Inc. All other trademarks, tradenames and company names are the property of their respective owners. (c) 2001 Performance Motion Devices, Inc. MC3410DS1.0-601 Storage Temperature (Ts ) -55 C to 150 C Operating Temperature (Ta ) 0 C to 70 C** Power Dissipation (Pd) 400 mW Nominal Clock Frequency (Fclk) 20.0 MHz Supply Voltage Limits (Vcc ) -0.3 V to +7.0 V Supply Voltage Operating Range (Vcc ) 4.75 V to 5.25 V ** An industrial version with an operating range of -40 C to 85 C is also available. Please contact PMD for more information.