Highlights 

For communicating to the host microprocessor, the MC28xx offers the option of a parallel 8-bit or 16-bit interface or an asynchronous bi-directional serial port. The motion processor offloads resource intensive motion control functions from the application's host. PMD's instruction set, common to all PMD motion processors, offers flexibility and versatility to board designers and software application programmers. User-selectable profiling modes supported by the motion processor include S-curve, trapezoidal, velocity contouring and electronic gearing. The MC28xx accepts input parameters such as position, velocity and acceleration from the host and generates a corresponding trajectory. The MC28xx has a pre-programmed PID filter with feedforward velocity and acceleration that can be scaled, has a bias offset and supports a 32-bit position error.

The PID filter operates with a 150 µsec servo loop time per enabled axis for brushed/brushless and microstepping motors. The MC28xx closes the PID loop with an incremental quadrature encoder at a maximum rate of 5 megacounts per second or with a 16-bit parallel word at a maximum rate of 160 megacounts per second. Each axis supports 16-bit DAC or 10-bit, 20 kHz PWM compatible output signals. For 2 or 3-phase brushless motors, the MC2800 provides sinusoidal commutation; initialization is achieved using Hall-based sensors or with the motion processor's own algorithm. 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. Additional signals include two limit switches (one for each direction of travel), a home indicator and a general-purpose programmable input/output bit per axis. Eight 10-bit analog (0-5 V) inputs and 256 (16-bit wide) user-defined inputs/outputs are also available. Trace capabilities provide on-the-fly data storage to an external RAM for analyzing system performance, tuning servo filters and performing maintenance and diagnostics.

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