DDAATTASHEETASHEET Magellan MC58113 Series Motion FEATURES Single axis, single IC FO C (field oriented control) Control ICs Position, velocity, Incremental encoder and torque control quadrature input (up to 25 Mcounts/sec) Brushless DC, DC Brush, and step motor control Synch pin feature allows multiple axes to be S-curve, trapezoidal, synchronized to <1 sec velocity contouring, and electronic gearing profiles Internal motion trace NVRAM for performance SPI (Serial Peripheral optimization Interface), serial RS232/485, and CANbus Overcurrent, over/ communications undervoltage and overtemperature detect 1.5 axes (primary and auxiliary encoder) control Directional limit switch, index, and home inputs Advanced PID filter with velocity and acceleration Axis settled indicator, feedforward tracking window and automatic motion High performance error detection current control of each Magellan MC58113 Series Motion Control ICs motor phase General-purpo se provide high performance motion control with an integrated analog input High/Low switching digital current loop. Available as a single, one-axis IC, the amplifier control with Programmable dual MC58113 IC is a programmable device that provides programmable deadtime biquad filters positioning, velocity, and torque control for Brushless DC, and charge pump refresh DC Brush, and step motors. Programmable acceleration Velocity, position and and deceleration values A Powerful Motion Controller acceleration changes Compact 100-pin on-the-fly Magellan Motion ICs are complete motion controllers requiring TQFP package only an external bridge circuit or amplifier to be functional. Programmable position They are driven by a host using either a parallel bus, SPI loop time from 50 sec (Serial Peripheral Interface), CANbus 2.0B, or RS232/485 to 1.1 sec serial. User selectable profiling modes include S-curve, trapezoidal, velocity contouring and electronic gearing. PID servo loop compensation utilizes a 32-bit position CONFIGURATION error and includes velocity and acceleration feedforward. High performance FOC (field oriented control) provides Host high accuracy, ultra-low noise motor operation. Microprocessor or Controller Easy to Use and Program All Magellan Motion Control ICs provide a flexible and powerful instruction set to initialize and control motion axes, monitor performance, and synchronize overall machine behavior. Working with Magellan ICs, and Pro-Motion Brushless DC Motor, On-card bridge, MC58113 Series Step Motor, Atlas, or o-card development software makes it fast and easy to graph Mo on Control IC or DC Brush Motor amplier and analyze system performance while C-Motion language allows you to develop your own application using C/C++. Flexible Offering Current There are four MC58113 Series ICs, each packaged in a single Hall Sensors (Brushless DC only) 100-pin TQFP operating at 3.3 V. The MC51113 provides dedicated control of DC Brush motors, the MC53113 provides Posi on Encoder (op onal for step motor) control of three-phase Brushless DC motors, the MC54113 provides control of two-phase step motors, and the MC58113 can be software selected to provide control of any of these motor types.TECHNICAL OVERVIEW Shunt CAN 2.0B +HV BusVoltage Serial RS232/485 Analog Signal BusCurrentSupply Condi oning SPI (Serial Peripheral Interface) HOST Temperature Host Interrupt BLDC, Step, PWMHigh/Low 1A-D or DC Brush Motor HostSPIStatus To Motor AmplierEnable Switching Bridge PWMOutsideDisable Circuitry MC58113 Home1-2, Index1-2 Mo on Control IC Analog Signal Current1A-D Condi oning Leg QuadA1-2, QuadB1-2 Current Sensors Hall 1AC AmplierSPI GND Enable D/A Pulse & Direc on Converter Synch FaultOut +/- 10V Input Step Motor Atlas Motor Amplier Amplier Amplier To Motor To Motor To Motor MC58113 SERIES SPECIFICATIONS AMPLIFIER CONNECTION OPTIONS Parameters Value On-board PWM amplifier circuitry Configurations MC51113 - DC Brush motor PWM output rate 20, 40, or 80 kHz MC53113 - Brushless DC motor Current control modes FOC (field oriented control), A/B, third leg floating, MC54113 - Step motor voltage modefloating, voltage mode MC58113 - Motor type software selectable Host communication Serial RS232/485 Current loop rate 20 kHz options CANbus 2.0B SPI (Serial Peripheral Interface) PWM output modes High/Low, Sign/Magnitude, 50/50 Position range -2,147,483,648 to +2,147,483,647 counts Velocity range -32,767 to 32,767 counts/sample External +/- 10V input amplifier Amplifier SPI bus serial 16 bits 2 Acceleration and 0 to 32,767 counts/sample DAC deceleration range 3 Jerk range 0 to 1/2 counts/sample Servo loop range 50 sec to 1.1 sec Pulse & direction input amplifier Position error resolution 32 bits Pulse and direction up to 1.0 Mpulses/sec output rate Commutation rate 20 kHz Microsteps per full step Programmable, up to 256 Signal inputs axis 1 QuadA/B, Index, Home, Hall A/B/C ATLAS Digital Amplifiers AxisIn, Pos/NegLimit ATLAS Digital amplifiers are compact single-axis amplifiers that provide high performance torque control of DC brush, brushless DC, and step motors. They are Signal inputs axis 2 QuadA/B, Index, Home packaged in a Compact or Ultra Compact solderable module and utilize standard through-hole pins for all connections. Maximum encoder rate 25 Mcounts/sec Voltage Input 12-56 VDC Internal trace buffer 32 KB Microstepping resolution 256 Internal NVRAM buffer 2 KB PWM frequency 20, 40, 80 kHz Current Loop rate 20 kHz Operating temperature -40 C to 85 C Power rating options 75W, 250W, 500W (Ta ) Ultra Compact size: Supply voltage operating 3.0 V to 3.6 V 1.05 x 1.05 x .53 (27mm x 27mm x 13mm) range (Vcc) Mechanical Dimensions Compact size: Package and dimensions 100-pin TQFP, 14 x 14mm 1.52 x 1.52 x .60 (39mm x 39mm x 15mm) AxisOut AxisIn PosLim, NegLim Analog