MC3410 Просмотр технического описания (PDF) - PMD

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MC3410

Pilot™ Motion Processor

PMD 

2 Functional Characteristics

2.1 Configurations, parameters, and performance

Configuration

Operating modes

Communication modes

Serial port baud rate range

Position range

Velocity range

Acceleration/ deceleration ranges

Jerk range

Profile modes

Filter modes

Filter parameter resolution

Position error tracking

Motor output modes

Commutation rate

Microstepping waveform

Number of microsteps per full step

Maximum encoder rate

Parallel encoder word size

Parallel encoder read rate

Cycle loop timing range

Minimum cycle loop time

Limit switches

Position-capture triggers

Single axis, single chip.

Open loop (motor command is driven from output of trajectory generator and

microstep generator, encoder input used for stall detection)

8/16 parallel (8 bit external parallel bus with 16 bit internal command word size)

16/16 parallel (16 bit external parallel bus with 16 bit internal command word

size)

Point to point asynchronous serial

Multi-drop asynchronous serial

1,200 baud to 416,667 baud

-2,147,483,648 to +2,147,483,647 counts

-32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample

-32,768 to +32,767 counts/sample2 with a resolution of 1/65,536 counts/sample2

0 to ½ counts/sample3, with a resolution of 1/4,294,967,296 counts/sample3

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)

Scalable PID + Velocity feedforward + Acceleration feedforward + Bias. Also

includes integration limit, settable derivative sampling time, and output motor

command limiting

16 bits

Motion error window (allows axis to be stopped upon exceeding programmable

window)

Tracking window (allows flag to be set if axis exceeds a programmable position

window)

Axis settled (allows flag to be set if axis exceeds a programmable position

window for a programmable amount of time after trajectory motion is compete)

PWM (80 kHz, 8-bit*)

DAC (16 bits)

20 kHz

Sinusoidal

Programmable 1 to 256

Incremental (up to 5 million counts/sec)

Parallel-word (up to 160 million counts/sec)

16 bits

20 kHz (reads all axes every 50 µsec)

153.6 µsec to 32.767 milliseconds

153.6 µsec

2 per axis: one for each direction of travel

2 per axis: index and home signals

MC3410 Technical Specifications

11

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