PMD: Motion Processor (MC2100 Series)

The NavigatorTM Brushed Servo Motion Processor (MC2100 Series) is used in embedded control systems for industrial control, automation and robotic applications. Available in one (MC2110), two (MC2120) and four (MC2140) axis configurations, the MC21xx consists of two components, a 132-pin processor and a 100-pin logic device. Both components are surface mount CMOS technology and powered by 5 volts. The motion processor is driven by a host microprocessor via an 8-bit or 16-bit bus interface or through an asynchronous bi-directional serial port, giving users the ability to offload resource intensive motion control functions from the application's host. With over 130 commands, PMD's instruction set offers flexibility and versatility to board designers and software application programmers. Instructions are used to initialize and control the motion processor. User selectable profiling modes supported by the motion processor include S-curve, trapezoidal, velocity contouring and electronic gearing. The MC21xx accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory. The MC21xx has a pre-programmed PID filter with feedforward velocity and acceleration that can be scaled and a bias offset.

The chipset also supports a 32-bit position error. The PID filter operates at 100 µsec loop cycle time per enabled axis. Trace capabilities provide on-the-fly data storage to an external RAM for analyzing system performance, tuning servo filters and performing maintenance and diagnostics. The motion processor accepts feedback from an incremental encoder at 5 megacounts per second or from an absolute encoder or resolver at 160 megacounts per second. Each axis supports 16-bit DAC or 10-bit, 20 kHz PWM compatible output signals. Each axis can also interface to a quadra-ture encoder with an optional index pulse or to a parallel-word device, such as an absolute encoder to provide a position feedback signal. Multiple breakpoints per axis offer precise sequencing and control of events by the application program. PLC-style instructions are provided, which operate on inputs and set outputs. The instructions use Event, Activity and Signal registers. Input signals include two limit switches (one for each direction of travel), home indicator and a general-purpose programmable input per axis. One general-purpose programmable output signal is also provided. Eight general-purpose analog (0-5 V) and 256 (16-bit wide) general-purpose.

Features:

• Available in 1, 2 and 4-axis versions.

• Motion profiles include S-curve, trapezoidal, velocity contouring and electronic gearing.

• Asymmetric acceleration and deceleration to custom program a trapezoidal motion profile.

• Advanced PID filter with velocity and acceleration feedforward, bias offset and 32-bit position error.

• Velocity and acceleration changes on-the-fly for trapezoidal and velocity-contouring profiles.

• Incremental encoder quadrature input and parallel input for absolute encoder or resolver.

• Parallel and serial (point-to-point or multi-drop) communications interface.

• Trace capabilities for system performance checks, servo-tuning, maintenance and diagnostics.

• Encoder rate of 5.0 Mcounts/sec allows use of fine resolution feedback devices.

• 10-bit 20 kHz PWM or 16-bit DAC motor control output to amplifier.

• Advanced breakpoint capability allows precise sequencing of events.

• PLC-style programmable inputs and outputs, including a per-axis programmable input and output.

• 256 16-bit word I/O locations for user defined peripherals.

• 8 general-purpose analog inputs.

• Two-directional limit switches, index input and home indicator per axis.

• Axis settled indicator and tracking window in addition to automatic motion error detection.

• Packaged in a 132-pin processor and a 100-pin logic device (surface mount CMOS technology).

• Available in commercial and industrial temperature versions.

• Software backward compatible with PMD's MC1xxx family (1400, 1200 and 1100 series).