MC1101A Ver la hoja de datos (PDF) - PMD

Número de pieza

componentes Descripción

Fabricante

MC1101A

Advanced Brushless Motor Control Chipset

PMD 

Theory of Operations

Incremental Encoder

Index Home

B

1/a

1/a 1/a

I/O Chip

Internal Block Diagram

A

1/a

Parallel Input

(-P chipset only)

8 data

2 Control

PWM sign,

mag

1/phase

Motor Output

DAC address

2

DAC data

16

DAC, PWM signal generator (1-4 channels)

CP Chip

Quadrature

decoder

counter (1-4)

Position

register (1-4)

Digital Servo

filtering (1-4)

Trajectory profile

generator (1-4)

Position capture

register (1-4)

System Registers (1-4)

Host I/O controller

5

Control

8

Data

1

host interrupt

Host command

1/a

1/a

PosLimit NegLimit

The above figure shows an internal block diagram for the MC1401A

and MC1401A-P series motion processors.

Each servo axis inputs the actual location of the axis using either

incremental encoder signals or signals from a parallel-word input device

such as an absolute encoder or resolver. If incremental signals are

used then the incoming A, and B quadrature data stream is digitally

filtered, and then passed on to a high speed up/down counter. Using

the parallel-word interface a direct binary-encoded position of up to 16

bits is read by the chipset. Regardless of the encoder input method this

position information is then used to maintain a 32-bit actual axis

position counter.

If incremental feedback is used, then the chipset also supports the

ability to capture the instantaneous position of each axis using an

external trigger signal. The captured value may then later be retrieved

by the host processor.

The chipset can be operated in two modes. Closed loop mode, which is

the normal operating mode of the chipset, performs trajectory

generation and digital servo loop closure. In this mode the motor output

value is controlled by the servo filter. Open loop mode, which is used

for direct motor-control operations only, does not use the output of the

servo filter, and allows the motor output value to be controlled directly

by the host processor.

When closed loop mode operations are used the actual axis position is

combined with the target position generated by the trajectory profile

generator to calculate a position error, which is passed through a PID

filter. The resultant value is then output by the chipset to an external

amplifier using either PWM or DAC signals.

The following table summarizes the operational parameters of the

MC1401-series chipsets.

20

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