2
Table of Contents
Product Family Overview....................................... Page 3
Introduction........................................................... Page 3
Family Summary................................................... Page 3
Electrical Characteristics....................................... Page 4
Absolute Maximum Ratings.................................. Page 5
Operating Ratings................................................. Page 5
DC Electrical Characteristics ................................ Page 5
AC Electrical Characteristics ................................ Page 5
I/O Timing Diagrams............................................. Page 7
Pinouts .................................................................... Page 11
MC1451A.............................................................. Page 11
MC1251A, MC1151A............................................ Page 12
Pin Descriptions.................................................... Page 13
Theory of Operations ............................................. Page 17
Trajectory Profile Generation................................ Page 18
S-curve Point to Point ....................................... Page 19
Trapezoidal Point to Point................................. Page 20
Velocity Contouring........................................... Page 20
Electronic Gear................................................. Page 21
Trajectory Control ................................................. Page 21
Halting The Trajectory ...................................... Page 21
Motion Complete Status ................................... Page 22
Parameter Loading & Updating ............................ Page 22
Manual Update ................................................. Page 22
Breakpoints....................................................... Page 23
External Breakpoints and Homing .................... Page 23
Disabling Automatic Profile Update .................. Page 24
Travel Limit Switches............................................ Page 24
Axis Timing ........................................................... Page 24
Host Communications .......................................... Page 25
Electrical Interface ............................................ Page 25
Packet Format...................................................Page 25
Packet Checksum .............................................Page 26
Illegal Commands .............................................Page 26
Command Errors...............................................Page 26
Axis Addressing.................................................Page 26
Axis Status ............................................................Page 27
Status Word ......................................................Page 27
Miscellaneous Mode Status Word.....................Page 27
Host Interrupts.......................................................Page 28
Pulse & Direction Signal Generation .....................Page 29
Pulse Generation Control...........................................Page 29
At Rest Indicator.........................................................Page 29
Encoder Position Feedback ..................................Page 29
Stall Detection............................................................Page 30
Position Error .............................................................Page 30
Recovering From A Motion Error ...............................Page 30
Host Commands .....................................................Page 32
Command Summary .............................................Page 32
Command Reference ............................................Page 34
Axis Control.......................................................Page 34
Profile Generation .............................................Page 35
Parameter Update.............................................Page 39
Interrupt Processing ..........................................Page 41
Status/Mode ......................................................Page 42
Pulse Generation ..............................................Page 43
Encoder.............................................................Page 44
Miscellaneous ...................................................Page 45
Application Notes ...................................................Page 48
ISA bus interfacing ................................................Page 48
Performance Motion Devices, Inc. does not assume any responsibility for use of any circuitry described in this manual, nor does it make
any guarantee as to the accuracy of this manual. Performance Motion Devices, Inc. reserves the right to change the circuitry described in
this manual, or the manual itself, at any time.
The components described in this manual are not authorized for use in life-support systems without the express written permission of
Performance Motion Devices, Inc.
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