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MC1141A

Advanced Microstepping Motion Control Chipset

PMD 

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

MC1241A, MC1141A Pinouts............................... 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

Parameter Loading & Updating ............................ Page 22

Manual Update ................................................. Page 22

Breakpoints....................................................... Page 23

Disabling Automatic Profile Update .................. Page 23

Travel Limit Switches........................................ Page 23

Axis Timing ........................................................... Page 24

Host Communications .......................................... Page 25

Electrical Interface ............................................ Page 25

Packet Format .................................................. Page 25

Packet Checksum............................................. Page 26

Illegal Commands............................................. Page 26

Command Errors .............................................. Page 26

Axis Addressing................................................ Page 27

Axis Status............................................................ Page 27

Status Word...................................................... Page 27

Miscellaneous Mode Status Word .................... Page 27

Host Interrupts.......................................................Page 28

Encoder Position Feedback ..................................Page 29

High Speed Position Capture............................Page 29

Position Capture ReadBack ..............................Page 29

Stall Detection ...................................................Page 29

Position Error ....................................................Page 30

Recovering From A Motion Error ......................Page 30

Microstepping........................................................Page 30

Microstepping Waveforms.................................Page 31

Motor Command Control...................................Page 31

AC Induction Motor Control...............................Page 31

Command Summary .........................................Page 32

Motor Output .........................................................Page 32

Motor Output Signal Interpretation ....................Page 32

DAC16 Decoding...............................................Page 32

PWM Decoding .................................................Page 32

Motor Drive Configurations ...............................Page 33

3-Phase Drive Configuration .............................Page 33

Host Commands .....................................................Page 34

Command Summary .............................................Page 34

Command Reference ............................................Page 36

Axis Control.......................................................Page 36

Profile Generation .............................................Page 37

Parameter Update.............................................Page 41

Interrupt Processing ..........................................Page 43

Status/Mode ......................................................Page 44

Motor Control ....................................................Page 45

Encoder.............................................................Page 46

Miscellaneous ...................................................Page 48

Microstepping....................................................Page 49

Application Notes ...................................................Page 52

Interfacing MC1241A to ISA bus...........................Page 52

PWM Motor Interface ............................................Page 54

16-Bit Serial DAC Motor interface .........................Page 56

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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