MC1401 查看數據表（PDF） - PMD

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MC1401

Advanced Brushless Motor Control Chipset

PMD 

MC1231A-Series Chipset Operational Parameters

Available configurations:

Operating Modes:

Position Range:

Velocity Range:

Acceleration Range:

Jerk Range:

Trajectory Profile Generator Modes:

Electronic Gear Ratio Range:

Filter Modes:

Filter parameter resolution:

Commutation Waveform:

Phase Initialization Methods:

# of sinusoidal lookups:

range of commutation cycle:

Commutation rate:

Phasing Modes:

# of PWM Output Phases:

# of DAC Output Phases:

Max Incremental. Encoder Rate:

Servo loop rate range:

Max servo loop rate:

# of limit switches per axis

# of position capture triggers:

Capture trigger latency:

# of Host commands:

2 axes with internal sinusoidal commutation (MC1231A)

1 axes with internal sinusoidal commutation (MC1131A)

Closed loop (motor command is driven from output of servo filter)

Open loop (motor command is driven from user-programmed register)

-1,073,741,824 to 1,073,741,823 counts

-16,384 to 16,383 counts/sample with a resolution of 1/65,536 counts/sample

S-curve profile: - 1/2 to + 1/2 counts/sample2 with a resolution of 1/65,536 counts/sample2.

All others: -16,384 to 16,383 counts/sample2 with a resolution of 1/65,536 counts/sample2

-1/2 to +1/2 counts/sample3, with a resolution of 1/4,294,967,296 counts/sample3

S-curve (host commands final position, max velocity, max acceleration, and jerk)

Trapezoidal (host commands final position, max velocity and acceleration)

Velocity contouring (host commands max. velocity, acceleration)

Electronic Gear (Encoder position of one axis is used as position command for another axis). A total of 2

electronic gears are supported (2 encoders and 1 output each). Not available in MC1131A

32768:1 to 1:32768 (negative and positive direction)

PID+Velocity feedforward and motor bias

16 bits

Sinusoidal

Hall-Based

Algorithmic (briefly energize motor coils)

Microstepping (advance motor to known phase position)

Direct set (explicitly set current commutation angle)

256 per electrical cycle

129 to 2,097,088 (using pre-scalar) counts per electrical cycle

15 kHz

120 degrees (used with 3-phase brushless motors)

90 degrees (used with 2-phase brushless motors)

3-phase brushless motors: 3

2-phase brushless motors: 2

2 (all motor types)

1.75 Mcounts/sec

270 uSec*minimum, 4,423 mSec max.

270 uSec* per enabled axis.

2 (one for each direction of travel)

2 (index, home signal)

160 nSec

116

*Exact servo loop time is 271.36 uSec, 270 is an approximation

Trajectory Profile Generation

The trajectory profile generator performs calculations to determine the

target position, velocity and acceleration at each servo loop. These

calculations are performed using the current profile mode and 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

The commands to select these profile modes are

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 mod).

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.

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