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DK1401A-P

Advanced Brushless 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 4

Operating Ratings................................................. Page 4

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

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

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

Pinouts .................................................................... Page 13

MC1401A. MC1201A............................................ Page 13

MC1101A, MC1401A-P ........................................ Page 14

MC1201A-P, MC1101A-P..................................... Page 15

Pin Descriptions.................................................... Page 16

Theory of Operations ............................................. Page 20

Trajectory Profile Generation................................ Page 21

S-curve Point to Point....................................... Page 22

Trapezoidal Point to Point................................. Page 23

Velocity Contouring........................................... Page 23

Electronic Gear................................................. Page 24

Trajectory Control ................................................. Page 24

Halting The Trajectory ...................................... Page 24

Motion Complete Status ................................... Page 25

Digital Servo Filtering ........................................... Page 25

Motor Limit........................................................ Page 26

Motor Bias ........................................................ Page 26

Parameter Loading & Updating ............................ Page 26

Manual Update ................................................. Page 27

Breakpoints....................................................... Page 27

External Breakpoints and Homing .................... Page 28

Disabling Automatic Profile Update .................. Page 28

Travel Limit Switches............................................ Page 28

Motion Error Detection and Recovery .................. Page 29

Recovering From a Motion Error ...................... Page 29

Axis Timing ........................................................... Page 29

Host Communications .......................................... Page 30

Electrical Interface ............................................ Page 30

Packet Format .................................................. Page 30

Packet Checksum .............................................Page 31

Illegal Commands .............................................Page 31

Command Errors...............................................Page 31

Axis Addressing ....................................................Page 31

Axis Status ............................................................Page 32

Status Word ......................................................Page 32

Miscellaneous Mode Status Word.....................Page 32

Host Interrupts.......................................................Page 32

Encoder Position Feedback ..................................Page 34

Incremental Encoder Input ................................Page 34

Encoder Filtering ...............................................Page 34

High Speed Position Capture............................Page 34

Parallel-Word Device Input................................Page 34

Parallel-Word Device Interfacing.......................Page 35

Motor Outputs .......................................................Page 35

Motor Output Control.........................................Page 35

PWM Output......................................................Page 36

12-Bit DAC Output.............................................Page 36

16-Bit DAC Output.............................................Page 36

Host Commands .....................................................Page 38

Command Summary .............................................Page 38

Command Reference ............................................Page 40

Axis Control.......................................................Page 40

Profile Generation .............................................Page 41

Digital Filter .......................................................Page 45

Parameter Update.............................................Page 47

Interrupt Processing ..........................................Page 50

Status/Mode ......................................................Page 51

Encoder.............................................................Page 52

Motor .................................................................Page 52

Miscellaneous ...................................................Page 54

Application Notes ...................................................Page 58

Interfacing to ISA bus............................................Page 58

Parallel-Word Device Interface .............................Page 60

PWM Motor Interface ............................................Page 62

16-Bit Parallel DAC Motor interface ......................Page 64

16-Bit Serial DAC Motor Interface.........................Page 66

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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