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參數(shù)資料
| 型號： | DK1241A |
| 廠商： | Electronic Theatre Controls, Inc. |
| 英文描述： | Advanced Microstepping Motion Control Chipset |
| 中文描述： | 高級微步運動控制芯片組 |
| 文件頁數(shù)： | 32/60頁 |
| 文件大?。?/td> | 422K |
| 代理商： | DK1241A |
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32
Command Summary:
The following table summarizes the commands that are used in
conjunction with mcrostepping signal generation:
Command
SET_PHASE_3
Function
Sets the commutation waveformfor 3-
phase brushless motors.
Sets the commutation waveformfor 2-
phase brushless motors.
Returns type of waveformselected.
Sets the motor command register, used
to control the motor output amplitude.
Sets the buffered motor command
register. Functions identically to
SET_MTR_CMD except that an
UPDATE is required for it take effect.
SET_PHASE_2
GET_PHASE_INFO
SET_MTR_CMD
SET_BUF_MTR_CMD
Motor Output
The MC1241A series of chipsets support two motor output methods,
PWMand DAC.
The motor output method is host-selectable. The selected method
affects all axes (motor output mode is
not
individually programmable for
each axis). The host commands to select these output modes are
SET_OUTPUT_PWM(to select PWMmode), and
SET_OUTPUT_DAC16 (to select 16 bit DAC mode).
Motor Output Signal Interpretation
The diagrambelow shows typical waveforms for a single output phase
of the MC1241A chipset. Each phase has a simlar waveform although
the phase of the B channel output is shifted relative to the A channel
output by 90 or 120 degrees (depending on the waveformselected).
0
+ motor command
- motor command
The waveformis centered around an output value of 0. The magnitude
of the overall generated waveformis controlled by the motor command
register (SET_MTR_CMD or SET_BUF_MTR_CMD cmds).
For example if the chipset is connected to a DAC with an output range
of -10 Volts to + 10 Volts and the chipset is set to a motor command
value of 32,767 (which is the maximumallowed value) than as the
motor rotates through a full electrical cycle, a sinusoidal waveform
centered at 0 volts will be output with a mnimumvoltage of - 10, and a
maximumvoltage of +10.
DAC16 Decoding
The digital values output by the chipset to the DAC encode the desired
voltages as a 16-bit digital word. The mnimumvoltage is output as a
digital word value of 0, a voltage of 0 Volts is output as a digital word of
32,768 (dec.), and the maximumpositive voltage is output as a digital
word value of 65,535 (dec.).
To load each of the four (MC1241A) or two (MC1141A) DACs, the DAC
control pins in combination with the chipset's 16-bit data bus are used.
To load a particular DAC, The DAC address (1 of 4) is output on the
signals DAC16Addr0-1, the 16 bits of DAC data are output on pins
Data0-11 (high 12 bits), as well as DACLow0-3 (low 4 bits), I/OAddr0-3
and DACSlct are high, and I/OWrite is low.
For more information on the DAC signal timng & conditions, see the
Pin Descriptions and timng diagrams section of this manual.
DACs with lower resolution than 16 bits can also be used. To connect
to a DAC with less resolution, the high order bits of the 16-bit data word
should be used. For example, to connect to an 8-bit DAC, bits Data4-
Data11 should be used. The low order 8 bits are written to by the
chipset, but ignored by the DAC circuitry.
PWMDecoding
The PWMoutput mode also outputs a sinusoidal desired voltage
waveformfor each phase, however the method by which these signals
encode the voltage differ substantially fromthe DAC16 digital word.
The PWMoutput mode uses a magnitude signal and a sign signal. The
magnitude signal encodes the absolute value of the output sinusoid and
the sign signal encodes the polarity of the output, positive or negative.
The following diagramshows the magnitude and sign signals for a
single output phase.
PWMMagnitude
(low pass filtered)
PWMSign
0 V
+5 V
+5 V
0 V
In this diagramthe PWMmagnitude signal has been filtered to convert
it froma digital variable duty cycle waveformto an analog signal.
Before filtering this signal contains a pulse-width encoded
representation of the 'analog' desired voltage. In this encoding the duty
cycle of the waveformdetermnes the desired voltage. The PWMcycle
has a frequency of 97.6 kHz, with a resolution of 8 bits, or 1/256.
The following chart shows the encoding.
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