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. 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.

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