NAVIGATOR® Motion Control Chip Set Family MC2300
The Navigator® Brushless Servo Motion Processor (MC2300 Series) is used in embedded control systems for industrial control, automation and robotic applications. Available in one (MC2310), two (MC2320) and four (MC2340) axis configurations, the MC23xx consists of two components, a 132-pin processor and a 100-pin logic device. Both components are surface mount CMOS technology and powered by 5 volts.
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 MC2300 Series provides sinusoidal commutation of 2 or 3-phased brushless motors. Initialization is achieved using Hall-based sensors or with the motion processors own algorithm. The MC23xx accepts incremental quadrature encoder signals for input and outputs the sinusoidally commutated motor signals. The MC23xx 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 at 150 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. 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 MC23xx 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 Mcounts per second, or from an absolute encoder or resolver, up to 160 Mcounts per second. Each axis supports 16-bit DAC or 10-bit, 20 kHz PWM compatible output signals. Each axis can also interface to a quadrature encoder with an optional index pulse, or to a paral-lel- 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 per axis. Eight general-purpose analog inputs (0-5 V), and 256 (16-bit wide) general-purpose discrete inputs/outputs are available.
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Data Sheet | Programmer's Reference | User's Guide | Electrical Specifications
Features
- 6-step (Hall based) or sinusoidal commutation.
- Supports 2 or 3-phase brushless motors.
- Available in 1, 2 and 4-axis versions.
- Motion profiles include S-curve, trapezoidal, velocity contouring and electronic gearing.
- Asymmetric acceleration and deceleration to custom program a trapezoidal motion profile.
- Advanced PID filter with velocity and acceleration feedforward, bias offset and 32-bit position error.
- Velocity and acceleration changes on-the-fly for trapezoidal and velocity-contouring profiles.
- Incremental encoder quadrature input and parallel input for absolute encoder or resolver.
- Parallel and serial (point-to-point or multi-drop) communications interface.
- Trace capabilities for system performance checks, servo-tuning, maintenance and diagnostics.
- Encoder rate of 5.0 Mcounts/sec allows use of fine resolution feedback devices.
- 10-bit 20 kHz PWM or 16-bit DAC motor control output to amplifier.
- Advanced breakpoint capability allows precise sequencing of events.
- PLC-style programmable inputs and outputs, including a per-axis programmable input and output.
- 256 16-bit word I/O locations for user defined peripherals.
- 8 general-purpose 10-bit analog inputs.
- Two-directional limit switches, index input and home indicator per axis.
- Axis settled indicator and tracking window in addition to automatic motion error detection.
- Packaged in a 132-pin processor and a 100-pin logic device (surface mount CMOS technology).
- Available in commercial and industrial temperature versions.
- Software backward compatible with PMD's MC1xxx family (1200 and 1100 series).
Specifications
| Available Configurations | 4 axes (MC2340), 2 axes (MC2320), or 1 axis (MC2310) |
| Operating modes | Closed loop (motor command is driven from output of servo filter) Open loop (motor command is driven from user-programmed register) |
| Position range | -2,147,483,648 to +2,147,483,647 counts |
| Velocity range | Velocity-contouring profile mode: -32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample All others: 0 to 32,767 counts/sample with a resolution of 1/65,536 counts/sample |
| Acceleration and deceleration ranges | -32,768 to +32,767 counts/sample² with a resolution of 1/65,536 counts/ sample² |
| Jerk range | 0 to 1 counts/sample³, with a resolution of 1/4,294,967,296 counts/ sample³ |
| Profile modes | S-curve point-to-point (Velocity, acceleration, jerk, and position parameters) Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position parameters) Velocity-contouring (Velocity, acceleration, and deceleration parameters) Electronic Gearing (Encoder position of one axis used to drive a second axis. Master and slave axes and gear ratio parameters) Electronic gearing not available in MC2310. |
| Electronic gear ratio range | -32,768 to +32,767 (negative and positive direction) |
| Filter modes | Scalable PID+Vel feedforward + acceleration feedforward + bias. Also includes integration limit, settable derivitive sampling time, and output motor command limiting. |
| Filter parameter resolution | 16 bits |
| Motor output modes | PWM: 10-bit resolution at 20 kHz (for 1 and 2 axis) or 10-bit resolution at 10 kHz (for 4 axis) 50/50 supports 2 or 3 phase motors Sign magnitude supports 2 phase motors only DAC: 16 bits |
| Maximum encoder rate | Incremental: Up to 5 Mcounts/sec Parallel-word: Up to 160.0 Mcounts/sec |
| Parallel encoder word size | 16 bits |
| Parallel encoder read rate | 20 kHz (reads alls axes every 50 µsec) |
| Hall sensors inputs | 3 Hall effect inputs per axis (TTL level signals) |
| Commutation rate | 10 kHz (MC2340), or 20 kHz (MC2320 and MC2310) |
| Servo loop timing range | 150 μsec to 3355 msec |
| Minimum servo loop time | 150 μsec (nominal; Exact time is 153.6 μsec) per enabled axis. |
| Limit switches | 2 per axis: one for each direction of travel |
| Position-capture triggers | 2 per axis: index and home signals |
| Analog input | 8 10-bit analog inputs |
| User defined discrete I/O | 256 16-bit wide user defined I/O |
| Storage Temperature (Ts) | -55º C to 150º C |
| Operating Temperature (Ta) | 0º C to 70º C; an industrial version with an operating temperature of -40° to +85°C is also available. |
| Power Dissipation (Pd) | 650 mW (I/O and CP combined) |
| Nominal Clock Frequency (Fclk) | 40.0 MHz |
| Supply Voltage limits (Vcc) | -0.3 V to +7.0 V |
| Supply Voltage operating range (Vcc) | 4.75 V to 5.25 V |
| Analog Inputs | 0 to 5.0 Vdc |