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MC1151A-E

Advanced Step Motor 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 5

Operating Ratings................................................. Page 5

DC Electrical Characteristics ................................ Page 5

AC Electrical Characteristics ................................ Page 5

I/O Timing Diagrams............................................. Page 7

Pinouts .................................................................... Page 11

MC1451A.............................................................. Page 11

MC1251A, MC1151A............................................ Page 12

Pin Descriptions.................................................... Page 13

Theory of Operations ............................................. Page 17

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

External Breakpoints and Homing .................... Page 23

Disabling Automatic Profile Update .................. Page 24

Travel Limit Switches............................................ Page 24

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 26

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

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

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

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

Pulse & Direction Signal Generation.....................Page 29

Pulse Generation Control...........................................Page 29

At Rest Indicator.........................................................Page 29

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

Stall Detection............................................................Page 30

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

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

Host Commands .....................................................Page 32

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

Command Reference ............................................Page 34

Axis Control.......................................................Page 34

Profile Generation .............................................Page 35

Parameter Update.............................................Page 39

Interrupt Processing ..........................................Page 41

Status/Mode ......................................................Page 42

Pulse Generation ..............................................Page 43

Encoder.............................................................Page 44

Miscellaneous ...................................................Page 45

Application Notes ...................................................Page 48

ISA bus interfacing ................................................Page 48

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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