DATASHEET Magellan Family of Motion Control ICs MEET THE FAMILY MC58000 Series: Positioning Motion Control ICs for Brushless DC, DC Brush and step motors in a 1 to 4-axis package. MC55000 Series: Pulse and direction output positioning ICs for step motors in a 1 to 4-axis package. MC58113 Series: Positioning motion control ICs with integrated current control for Brushless DC, DC Brush and step motors in a single axis package. FEATURES S-curve, trapezoidal, velocity Programmable loop time contouring, and electronic to 50 sec gearing profiles Dedicated motion trace Serial RS232/485, Parallel, function for performance CANbus, and SPI (Serial optimization Peripheral Interface) Overcurrent, overvoltage, communications and overtemperature Advanced PID filter with monitoring velocity and acceleration Two directional limit feedforward switches, index input, and The Magellan Family of Motion Control ICs provide High performance current home indicator per axis advanced motion control for medical, scientific, automation, control & PWM signal industrial, and robotic applications. Available in 1, 2, 3, and Axis settled indicator, generation 4-axis versions, these flexible, programmable devices control tracking window and Brushless DC, DC Brush, and step motors. Ve locity, position and automatic motion error acceleration changes detection on-the-fly A Powerful Motion Controller Programmable dual Magellan Motion ICs are complete motion controllers requiring Fie ld oriented control biquad filters only an external bridge circuit or amplifier to be functional. High speed (up to Programmable acceleration They are driven by a host using either a parallel bus, SPI 5 Mpulses/sec) pulse & and deceleration values (Serial Peripheral Interface), CANbus 2.0B, or RS232/485 serial. direction output User selectable profiling modes include S-curve, trapezoidal, Dual loop encoder input velocity contouring and electronic gearing. PID servo loop Inc remental encoder 3.3 V operation, packaged compensation utilizes a 32-bit position error and includes quadrature input (up to in 144- or 100-pin TQFP velocity and acceleration feedforward. High performance 25 Mcounts/sec) FOC (field oriented control) provides high accuracy, ultra-low noise motor operation. CONFIGURATION Easy to Use and Program All Magellan Motion Control ICs provide a flexible and powerful Host instruction set to initialize and control motion axes, monitor Microprocessor or Controller performance, and synchronize overall machine behavior. Working with Magellan ICs and Pro-Motion development Amp Motor Encoder Axis 4 software makes it fast and easy to graph and analyze system performance while C-Motion language allows you to develop your own application using C/C++. Encoder Amp Motor Axis 3 Magellan Flexible Oeringff Mo on Control IC Magellan ICs are oerff ed in three series: Amp Motor Encoder Axis 2 Magellan MC58000 Series* Magellan MC55000 Series Magellan MC58113 Series Amp Motor Encoder Axis 1 * Magellan MC58000 and MC55000 Series are packaged in a two-IC 144/100-pin Current Feedback TQFP while the MC58113 Series is a single-IC 100-pin TQFP. All devices operate MC58113 Series Only at 3.3 V.TECHNICAL OVERVIEW CAN 2.0B Serial RS232/485 On-card Bridge PWM Output To Motor 8 or 16-bit Parallel Port Amplier HOST SPI (Serial Peripheral Interface) External Host Interrupt Parallel-word Memory Serial Cong Posi on Input Magellan 16-bit Data Bus Other User Devices Home Mo on Canbus Cong Motor Cong Control IC Parallel User I/O Index DAC Output QuadA, B SPI Hall A-C D/A Pulse & Direc on Converter Synch Step Motor +/- 10V Input Atlas Amplier Amplier Motor Amplier To Motor To Motor To Motor MAGELLAN SPECIFICATIONS AMPLIFIER CONNECTION OPTIONS Parameters Value On-board PWM amplifier circuitry Motors supported Brushless DC, DC Brush, Step motor PWM output rate 20, 40, or 80 kHz Current control modes FOC (field oriented control), A/B, third leg floating Host communication Serial RS232/485 (MC58113 only) options CANbus 2.0B Parallel bus (8 or 16 bits) (MC5X000 only) SPI (Serial Peripheral Interface) Current loop rate 20 kHz Position range -2,147,483,648 to +2,147,483,647 counts PWM output modes High/Low, Sign/Magnitude, 50/50 Velocity range 0 to 32,767 counts/sample 2 Acceleration and 0 to 32,767 counts/sample External +/- 10V input amplifier deceleration range AmplifierSPI bus serial 16 bits DAC 3 Jerk range 0 to 1/2 counts/sample Servo loop range 50 sec to 1.1 sec Pulse & direction input amplifier Pulse and direction output up to 1.0 Mpulses/sec Position error resolution 32 bits rate Commutation rate 20 kHz ATLAS Digital Amplifiers ATLAS Digital amplifiers are compact single-axis amplifiers that provide high Signals per axis QuadA/B, Index, Home, Hall A/B/C performance torque control of DC brush, brushless DC, and step motors. They are AxisIn, Pos/NegLimit, AxisOut, FaultOut packaged in a Compact or Ultra Compact solderable module and utilize standard through-hole pins for all connections. Max encoder rate Incremental: Up to 25 Mcounts/sec Parallel-word: Up to 160 Mcounts/sec Voltage Input 12-56 VDC Microstepping resolution 256 Operating temperature (Ta) -40 C to 85 C PWM frequency 20, 40, 80 kHz Supply voltage 3.0 V to 3.6 V Current Loop rate 20 kHz operating range (Vcc) Power rating options 75W, 250W, 500W Dimensions, MC5XX20 CP: 20 x 20 mm, IO: 14 x 14 mm Ultra Compact size: 1.05 x 1.05 x .53 (27mm x 27mm x 13mm) Mechanical Dimensions Dimensions, MC58113 14 x 14 mm Compact size: 1.52 x 1.52 x .60 (39mm x 39mm x 15mm) AxisOut AxisIn PosLim, NegLim Analog