PMD: Motion Processor (MC2400 Series)

The NavigatorTM Microstepping Motion Processor (MC2400 Series) is used in embedded control systems for industrial motion control, automation and robotic applications. Available in one (MC2410), two (MC2420) and four (MC2440) axis configurations, the MC24xx 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. The MC2400 Series outputs a PWM or DAC-compatible motor command signal needed to directly drive the windings of a stepping motor. A programmable microstepping rate can be specified to designate the desired number of microsteps per full step, from 1 to 256. The MC24xx operates in an open loop mode where the motor command is driven from output of the trajectory generator. Optional encoder feedback provides on-the-fly motor stall detection and allows the chipset to detect when the stepping motor has lost steps during a motion. Trace capabilities provide on-the-fly data storage for analyzing system performance and performing maintenance and diagnostics. With over 115 commands and versatility to board designers and software application programmers.

PMD's instruction set offers flexibility. 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 MC24xx accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory. The motion processor accepts feedback from an incremental encoder, up to 5 megacounts per second, or from an absolute encoder or resolver, up to 160 megacounts per second, to read the current axis position. Each axis supports 16-bit DAC or 10-bit, 20kHz (1 or 2 axis versions) or 10-bit, 10kHz (2 axis versions) PWM- compatible output signals. 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 per axis. Eight general-purpose analog (0-5 V) and 256 (16-bit wide) general-purpose discrete inputs/outputs are available.

Features:

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

• Supports 2 and 3-phase stepping motors.

• Programmable microstepping rate from 1 to 256 microsteps per full step.

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

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

• 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 for on-the-fly motor stall detection.

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

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

• Encoder rate of 5.0 Mcounts/sec allows use of fine resolution feedback devices for reading motor position.

• 10-bit 20kHz 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 10-bit 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 (1241 and 1141 series).