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MC1141A

Advanced Microstepping Motion Control Chipset

PMD 

Incremental Encoder

Index Home

B

1/a

1/a 1/a

Internal Block Diagram

A

1/a

Motor Output

PWM sign PWM dir.

DAC address

1/phase

2

16

PWM, DAC signal generator (2-4 channels)

Index capture

register (2)

Quadrature

decoder

counter (2)

Microstepping

Generator (2)

Trajectory

profile generator

System Registers (2)

Host I/O controller

Host command

5

8

1

1/a

1/a

Control

Data

Host I/O

host interrupt

PosLimit NegLimit

Over-travel Inputs

Technical Specifications

Available Configurations:

2 axes with internal microstepping generation (MC1241A)

1 axis with internal microstepping generation (MC1141A)

Operating Modes:

Open loop (uses trajectory generator, microstep generator)

Position Range:

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

Velocity Range:

-16,384 to 16,383 usteps/cycle with a resolution of 1/65,536 usteps/cycle

Acceleration Range:

S-curve profile: -1/2 to 1/2 usteps/cycle^2 with a resolution of 1/65,536 usteps/cycle^2

All other profiles: -16,384 to 16,383 usteps/cycle^2 with a resolution of 1/65,536 usteps/cycle^2

Jerk Range:

-1/2 to 1/2 usteps/cycle^3, with a resolution of 1/4,294,967,296 usteps/cycle^3

Trajectory Profile Generator Modes: S-curve (host commands final position, maximum velocity, maximum acceleration, and jerk)

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

Velocity contouring (host commands maximum velocity, acceleration)

Electronic Gear (Encoder position used as position command for corresponding stepper axis).

Electronic Gear Ratio Range:

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

Microstepping Waveform:

Sinusoidal

# Steps Per Full Step:

64

Microstep lookup rate:

15 kHz

Phasing:

90 degrees (used with 2-phase steppers)

120 degrees (used with 3-phase steppers & AC Induction Motors)

# of Output Phases:

2

PWM Resolution:

8 bits

PWM Frequency:

97.6 kHz

Incremental Encoder Input Signals: A, B, Index

Maximum Encoder Rate:

1.75 mCounts/sec

Profile Cycle Rate

540 uSec/cycle

# of Limit Switches Per Axis:

2 (one for each direction of travel)

Hardware Position Capture Latency: 160 nSec

Hardware Position Capture Triggers: Index signal (quadrature A and B must be low)

Home signal

# of Host Commands:

80

Ordering

Chipset

Information

Chipset Developer's Kit

p/n: MC1 41A

2 - 2 axis

1 - 1 axis

Custom chipset versions

also available. Call PMD

p/n: DK1241A*

*(Supports MC1241A and

MC1141A)

Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com

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