Highlights 

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 discrete inputs/outputs are available.

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