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MC1101A

Advanced Brushless Motor Control Chipset

PMD 

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Features

Available in 1, 2, or 4 axes configurations

Provides trajectory generation and servo loop

closure

32-bit position, velocity, acceleration and jerk

registers

Two directional travel-limit switches per axis

Choice of S-curve, trapezoidal, or contoured

velocity profile modes

Programmable loop rate to 100 micro sec

Electronic gearing

Choice of either PID or PI with velocity feedforward

servo control loops

1.0 megacount/sec quadrature incremental encoder

with index position capture

Parallel encoder and resolver input support

Choice of PWM or DAC motor output signals

High speed home-signal position capture

"On the fly" control of profile and filter parameters

with pre-load

Programmable torque limit

Easy to use packet-oriented host protocol

Programmable host interrupts

Typical Configuration

Host

Processor

Amp

M E Axis 1

General Description

The MC1401A is a 2-IC general purpose motion control chipset

available in one, two, or four axis configurations. It provides

trajectory generation and closed-loop digital servo control for a

large variety of servo motors. It uses incremental or absolute

encoder position feedback signals, and a DAC or PWM

compatible output drive. Axes can be programmed either

independently or in synchrony to allow advanced multi-axis

motion such as circular and continuous-path profiles.

The MC1401A is functionally similar to other members of

PMD's 1st generation chipset family, providing software and

architectural compatibility with these chipsets. All of these

products support advanced features such as S-curve profile

generation, bi-directional motion-travel limit switches, and

separate home and index position capture signals.

The chipset is controlled by a host processor which interfaces

with the chipset via an 8-bit, bi-directional port. Communications

to/from the chipset consist of packet-oriented messages. A host

interrupt line is provided so that the chipset can signal the host

when special conditions occur such as encoder index pulse

received.

MC1401A

(I/O & CP)

Amp

Each axis interfaces to either a quadrature encoder with an

M E Axis 2

optional index pulse, or a parallel-word device such as an

(MC1401A,

MC1201A only)

absolute encoder or resolver. For motor amplifier output, PWM

signals are provided, as well as DAC-compatible signals with up

to 16 bits of resolution.

Amp

M E Axis 3

The chipset is packaged in 2 68-pin PLCC packages. Both

chips utilize CMOS technology and are powered by 5 volts.

(MC1401A only)

Amp

M E Axis 4

(MC1401A only)

Doc. Rev. 6.14, Nov, 1997

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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