Highlights

The motion processor is driven by a host microprocessor through an asynchronous bi-directional serial port or through a 16-bit microprocessor-style parallel interface, giving users the ability to offload resource intensive motion control functions from the application’s host.

The MC3310 provides sinusoidal commutation of 2 or 3-phase brushless motors. Initialization is achieved using Hall-based sensors or with the motion processor’s own algorithm. In addition, the chip accepts incremental quadrature encoder signals for position input and outputs the sinusoidally commutated motor signals. The motion processor has a pre-programmed PID filter with feedforward velocity and acceleration that can be scaled and a bias offset. The chip also supports a 32-bit position error. The PID filter operates at 150 µsec loop cycle time. Trace capabilities provide on-the-fly data storage to an external RAM for analyzing system performance, tuning servo filters and performing maintenance and diagnostics.

With over 150 commands, PMD’s instruction set offers flexibility and versatility to board designers and software applications 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 user-defined. The MC3310 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 at 5 megacounts per second or from an absolute encoder or resolver at 160 megacounts per second. 16-bit DAC or 9-bit, 20kHz PWM compatible output signals are supported.

Multiple breakpoints 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. 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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