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PMD Atlas Compact Complete Technical Reference

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Atlas® Digital Amplifier
Complete Technical Reference
Performance Motion Devices, Inc.
1 Technology Park Drive
Westford, MA 01886
Revision 2.0 February, 2017

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Summary of Contents for PMD Atlas Compact

  • Page 1 Atlas® Digital Amplifier Complete Technical Reference Performance Motion Devices, Inc. 1 Technology Park Drive Westford, MA 01886 Revision 2.0 February, 2017...
  • Page 2 The information contained in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form, by any means, electronic or mechanical, for any purpose, without the express written permission of PMD. Copyright 1998–2017 by Performance Motion Devices, Inc.
  • Page 3 PMD warrants that its products shall substantially comply with the specifications applicable at the time of sale, provided that this warranty does not extend to any use of any PMD product in an Unauthorized Application (as defined below). Except as specifically provided in this paragraph, each PMD product is provided “as is” and without warranty of any type, including without limitation implied warranties of merchantability and fitness for any particular purpose.
  • Page 4 Related Documents Atlas® Digital Amplifier User’s Manual Description of the Atlas Digital Amplifier electrical and mechanical specifications along with a summary of its operational features. Magellan® Motion Control IC User’s Guide Complete description of the Magellan Motion Control IC features and functions with detailed theory of operations.

  • Page 5: Table Of Contents

    Table of Contents 1. Introduction..........9 Atlas Digital Amplifier Overview .
  • Page 6 6. Instruction Reference ......... 93 A.
  • Page 7 Trace Data Format ................74 4-15 High-Level Format of a PSF (PMD Structured Data Format) Memory Space ....75 4-16 PSF Data Segment Format .
  • Page 8 NOP Command Format ..............89 Send Command Format .

  • Page 9: Introduction

    The Atlas digital amplifier family has been designed to work seamlessly with PMD’s Magellan family of motion control ICs. Alternatively, they can be used with dedicated FPGAs, digital signal processors, or general purpose microprocessors.

  • Page 10: Typical Applications

    The following section provides overview diagrams of typical applications utilizing the Atlas amplifier products. 1.2.1 Single Axis Positioning Motion Controller The diagram below shows a PMD MC58113 Motion Control IC sending torque commands to an Atlas Amplifier to provide positioning control of a brushless DC, DC Brush, or Step Motor. Figure 1-1:...

  • Page 11: Multi Axis Magellan With Atlas Amplifiers

    Multi Axis Positioning Motion Controller The diagram below shows a PMD Magellan MC58000 series or MC55000 series multi-axis motion control IC being used with two or more Atlas Amplifiers to provide control of brushless DC, DC Brush, or Step Motors in a positioning application.

  • Page 12: Features And Functions

    The user can develop their own NVRAM programming system by utilizing the SPI (Serial Peripheral Interface) Atlas command protocol. For more information refer to the Atlas® Digital Amplifier Complete Technical Reference. • PMD offers custom pre-configured Atlas units. For more information contact your local PMD sales representative. 1.2.5 Force Control...

  • Page 13: Atlas Developer's Kit

    Introduction • Horizontal and vertical mount configurations • Includes rugged mechanical tab mounts • Supply voltage range of 12V up to 56V • High current output up to 14A continuous, 25A peak • Digital current loop with choice of standard A/B or Field Oriented Control (FOC) •...

  • Page 14: Developer Kit Components

    Electrical connection to the Atlas DK carrier card is made by DB9 connector, and by jack screw connectors. Designers who plan to use the Atlas in conjunction with PMD’s Magellan Motion Control ICs can connect the Atlas DK to the Magellan DK card, purchased separately.

  • Page 15: Functional Characteristics

    2.Functional Characteristics In This Chapter  Operational Specifications  Physical Dimensions  Mechanical Mounting Options Operational Specifications Operating Parameter Value Motor types supported: Brushless DC, DC Servo, Step Motor Communication format: SPI (Serial Peripheral Interface) SPI clock frequency range: 2.0 MHz to 8.0 MHz Torque command rate: up to 9.7 kHz Current measurement resolution:...

  • Page 16: Physical Dimensions

    Functional Characteristics Physical Dimensions 2.2.1 Vertical Unit, Ultra Compact Package Figure 2-1: Vertical Unit - Ultra Compact Package 2.2.2 Horizontal Unit, Ultra Compact Package Figure 2-2: Horizontal Unit - Ultra Compact Package Atlas® Digital Amplifier Complete Technical Reference...

  • Page 17: Vertical Unit - Compact Package

    Functional Characteristics 2.2.3 Vertical Unit, Compact Package  Figure 2-3:  Vertical Unit -  Compact   Package                        ...

  • Page 18: Mechanical Mounting Options

    Functional Characteristics Mechanical Mounting Options Atlas amplifiers are provided in two separate package sizes, ultra compact and compact, and in two separate mounting configurations; vertical and horizontal. There are some very low power applications where the Atlas unit may be mounted without mechanical attachment to the screw tabs.

  • Page 19: Horizontal & Vertical Unit Mounting Options

    Functional Characteristics Figure 2-5: Horizontal & Vertical Unit SCREWS (M2.0 or M2.5) THERMAL Mounting THERMAL TRANSFER Options TRANSFER MATERIAL MATERIAL SCREWS (M2.0 or M2.5) STANDOFF STANDOFF HEAT SINK HEAT SINK STANDOFF STANDOFF HEX NUT (M2.0 or M2.5) HEX NUT (M2.0 or M2.5) Horizontal Unit, Mechanical Mount Through Heat Sink to PCB Horizontal Unit, Mechanical Mount to PCB THERMAL...
  • Page 20 Functional Characteristics provide important recommendations and guidelines for the configuration, selection, placement, mounting method, and installation procedure for Atlas amplifiers. Choice of vertical or horizontal Atlas. The horizontal configuration of Atlas is recommended for applications where the Atlas is not mechanically mated to a supporting plate and where vibration or movement-related forces may be present. When the Atlas unit is mechanically mated to a supporting plate, either the horizontal or the vertical configuration may be used.

  • Page 21: Recommended Atlas Unit Thermal Transfer Material Dimensions

    Functional Characteristics Whether using tape, pads, paste, or epoxy, as shown in Figure 2-6, the thermal transfer material that is used as the interface should not extend to the area under the Atlas’ tabs because this may reduce the amount of compression that occurs in the thermal transfer area.

  • Page 22: Atlas Torque Specifications

    Functional Characteristics Figure 2-7: 11.0 Oz-in (.078 N-m) - Ultra Compact Package Atlas Torque Specifications 12.5 OZ-in (.088N-m) - Compact Package M2.0 or M2.5 Screw Mechanical mounting procedure. Atlas units that are mated to a heat sink or mechanical plate should be attached by progressively tightening both of the Atlas unit’s tabs.

  • Page 23: Electrical Specifications

    A coldplate or a heatsink in an environment with sufficient airflow can be used to achieve the above drive ratings. For temperature operation beyond the standard 0-40° C range, above-listed ratings may change. Contact your PMD representative for additional information on Atlas extended temperature operation including higher temperature drive ratings.

  • Page 24: Absolute Maximum Ratings

    A coldplate or a heatsink in an environment with sufficient airflow can be used to achieve the above drive ratings. For temperature operation beyond the standard 0-40° C range, above-listed ratings may change. Contact your PMD representative for additional information on Atlas extended temperature operation including higher temperature drive ratings.

  • Page 25: Environmental Ratings

    Electrical Specifications Environmental Ratings Specification Value Operating ambient temperature 0 to 40 C Maximum base plate temperature 75 C Storage temperature -20 to 85 C Reflow soldering temperature 300 C (1.5mm for 10 seconds) Humidity 0 to 95%, non-condensing Altitude Up to 2,000 meters without derating Contamination Pollution Degree 2...
  • Page 26 Electrical Specifications 3.5.3 ~SPICS Conditions , Logic 1 input voltage , Logic 0 input voltage 0.8 V , pull-up current -500 uA 3.5.4 ~Enable Schmitt-trigger input Conditions , Positive-going input threshold voltage 1.6 V 2.0 V V-, Negative-going input threshold voltage 0.9 V 1.2 V VT, Hysteresis V+-V- 0.6 V...

  • Page 27: Ac Characteristics

    Electrical Specifications AC Characteristics Figure 3-1: Timing Diagrams data is valid data must be valid Figure 3-1 for timing numbers. Timing Interval , SPI clock cycle time 125 nsec Pulse duration, SPIClk high (0.5 T -10) nsec Pulse duration, SPIClk low (0.5 T -10) nsec SPIClk high to SPISO valid delay time...

  • Page 28: Atlas Pinouts - Ultra Compact, Vertical

    Electrical Specifications 3.7.1 Atlas Pinouts - Ultra Compact, Vertical Figure 3-2: 17 15 13 11 Atlas Pinouts - Ultra Compact, 18 16 14 12 10 Vertical Name Name Motor A Pwr_Gnd Motor C Motor B Motor D NC (No Connect) NC (No Connect) NC (No Connect) ~Enable...

  • Page 29: Atlas Pinouts - Compact, Vertical

    Electrical Specifications FaultOut ~Enable NC (no connect) NC (no connect) NC (no connect) 3.7.3 Atlas Pinouts - Compact, Vertical Figure 3-4: 19 17 15 13 11 9 Atlas Pinouts - 20 18 16 14 12 10 8 Compact, Vertical Name Name Pwr_Gnd Pwr_Gnd...
  • Page 30 Electrical Specifications Name Name Motor D Motor D Motor C Motor C Motor B Motor B Motor A Motor A Pwr_Gnd Pwr_Gnd ~Enable FaultOut ~SPICS/AtRest SPISO SPISI/Direction SPIClk/Pulse The compact Atlas package provides additional power output via doubling of the HV, Pwr_Gnd, and Motor output pins.
  • Page 31 Electrical Specifications Pin Name Direction Description SPISI/Direction Input SPI data master out slave in signal or Direction signal. Direction is used when Atlas is set to pulse & direction signal mode, and indicates the step direction. Low means the position decreases upon a high to low transition of the Pulse signal, and high means the position increases.

  • Page 32: Signal Interfacing

    Electrical Specifications Signal Interfacing 3.8.1 ~Enable ~Enable and FaultOut signals are typically used to implement a safety interlock between the Atlas module and other portions of the system. ~Enable is an active low input that must be tied or driven low for the Atlas power output to be active. Its input buffer is shown in Figure 3-6.

  • Page 33: Connection Overview

    In this configuration the external controller generally consists of a PMD Magellan Motion Processor or a programmable microprocessor or DSP-type device. Alternatively, Atlas can be operated by an external controller as a standalone device, driving the motor at commanded voltage or torque levels and not part of a higher-level servo controller.

  • Page 34: Dc Brush Connections

    In this configuration the external controller generally consists of a PMD Magellan Motion Processor or a programmable microprocessor or DSP-type device. Alternatively, Atlas can be operated by an external controller as a standalone device, driving the motor at commanded voltage or torque levels.

  • Page 35: Step Motor Pulse And Direction Mode Connections

    Electrical Specifications 3.9.3 Step Motors in Pulse & Direction Signal Mode Figure 3-10: Step Motor Enable FaultOut Pulse and Direction Mode Motor A Connections 2 - Phase Pwr_Gnd Step Motor ® Pulse Atlas Motor B External Digital Controller Direction Amplifier AtRest Motor C Motor D...

  • Page 36: Heat Sink Grounding

    These connections apply to bipolar motors. If connecting to unipolar motors do not connect the center tap. In this configuration the external controller generally consists of a PMD Magellan Motion Processor, a programmable microprocessor or DSP-type device, or a FPGA (field programmable gate array). The external controller provides a continuous stream of position commands or individual phase torque output commands to control the motor position.
  • Page 37 Electrical Specifications All Low Power All Medium All High Power Unit Atlas Power Atlas Atlas Example Usage Amps .231 mA/count .763 mA/count 1.526 mA/count To command a torque of 3.5A to the high power Atlas a value of 3,500mA/1.526mA/count = 2,294 counts is specified.
  • Page 38 Electrical Specifications All Low All Medium All High Quantity Power Atlas Power Atlas Power Atlas Current Foldback Continuous Current Limit, Default: 2.12 A Default: 7.07 A Default: 14.1 A Brushless DC Motor Low Limit: 0.0 A Low Limit: 0.0 A Low Limit: 0.0 A High Limit: 2.12 A...

  • Page 39: Operation

    4.Operation In This Chapter  Functional Overview  Internal Block Diagram  Notes on Command Mnemonics  Commutation  Current Loop  Power Stage  Status Registers  Safety Processing Functions  Step Motor Control  User Memory Space & Buffers ...

  • Page 40: Internal Block Diagram

    Operation In addition to providing a stream of torque or voltage commands, the external controller is used to set up operational parameters needed by Atlas such as control gains, safety-related parameters, and other information. These parameters may be provided to Atlas at each power up, or stored non-volatilely on Atlas so that they no longer need to be loaded at each power-up.

  • Page 41: Notes On Command Mnemonics

    Operation Figure 4-2 shows the internal block diagram of Atlas. Here are summary descriptions of the major modules and functional areas: Commutation —this module utilizes internally generated information, or information provided by the external controller, to split up the desired overall torque command into individual phase commands to drive Brushless DC and step motors.

  • Page 42: Commutation

    Operation Commutation Motor Output Figure 4-3: (PWM or DAC) Commutation Phase A Control Command Sequence SPI Voltage Torque Command current Phase B loop or Command power stage Phase C Command Phase Angle Brushless DC motors have three phases (generally referred to as A, B, and C) separated from each other by 120 electrical degrees.
  • Page 43 Operation of 0.0 will ‘wrap’ around to a value of 360.0 ° . Conversely, a position angle that moves past 360.0 ° wraps to a value of ° To actually send the phase angle to Atlas it is combined with the motor voltage or torque command into a single SPI command packet.

  • Page 44: Phasing Reference Signals

    Operation 4.4.3 Phasing with an Encoder Figure 4-4: Phasing Reference Signals Phase Currents Phase-to- phase BEMF Votages Hall A Hall B Hall C Phase Angle in degs Figure 4-4 shows the relationship between a range of references signals such as Hall signals, and common manufacturer-provided motor control waveforms.

  • Page 45: Current Loop

    Particularly for free-wheeling motors such as spindles, centrifuges, fans, and similar devices, this approach can work well. However a detailed discussion of this is beyond the scope of this manual, so consult your PMD representative for more information. Current Loop The next section describes a number of concepts that apply even when the current loop is not enabled.
  • Page 46 Operation derived from the other two phases. When driving step motors, two current loops are used, one for the phase A coil, and one for the phase B coil. There are three overall methods of current control provided by Atlas, however not all methods are used with all motor types.

  • Page 47: Individual Phase Control Calculation Flow

    Operation To read the instantaneous actual state of the operating mode, the command GetActiveOperatingMode is used. 4.5.2 Individual Phase Control Figure 4-6: Individual Limit Output Phase Control Calculation Flow ILimit < > Command Reference Error Integrator Anti Windup Actual Current When individual phase control mode is selected Atlas utilizes the commanded current for each motor winding provided by the commutation module, along with the actual measured current provided by circuitry within the power stage, to perform current loop calculations.
  • Page 48 Operation 4.5.2.1 Reading Current Loop Values To facilitate tuning there are a number of current loop values that can be read back as well as traced. To read back these values the command is used. See Section 4.11.1.3, “Trace Variables” to specify these GetCurrentLoopValue values for trace during automatic trace capture.

  • Page 49: Field Oriented Control Calculation Flow

    Operation For single phase motors such as DC Brush, the PWM generator directly outputs this external controller-commanded value to the power stage. For multi-phase motors such as brushless DC or step motor, the PWM generator outputs this commanded value after commutation (brushless DC motors) or microstep signal generation (step motors) to the power stage.
  • Page 50 Operation To set these parameters the command is used. To read back these parameters the command is used. SetFOC GetFOC The values set using this command are buffered and are activated using the SPI header. See Section 5.2, “Packet Header” for details.

  • Page 51: Third Leg Floating Control

    Operation 4.5.4 Third Leg Floating Control Figure 4-8: A Output Limit Third Leg q Output Floating Sel. B Output Control ILimit C Output qReference < > Command qError q Integrator Anti Leg A Current Windup Actual Current Sel. Leg B Current Leg C Current Figure 4-8 provides an overview of the calculation flow when third leg floating control mode is selected.

  • Page 52: Power Stage

    Operation 4.5.4.1 Reading Third Leg Floating Loop Values To facilitate tuning there are a number of third leg floating loop values that can be read back as well as traced. To read back these values the command is used. See Section 4.11.1.3, “Trace Variables”...

  • Page 53: Power Stage Control Flow

    PWM duty cycle may not fully limit the effective voltage experienced by the device. If this is the case for your system, you may consider increasing the Atlas unit PWM frequency, adding an inductor to the motor circuit, or consulting a PMD representative for more information. Atlas® Digital Amplifier Complete Technical Reference...
  • Page 54 Operation To set the PWM limit value the command is used. To read this value back the command SetDrivePWM GetDrivePWM is used. The programmed drive limit value affects the PWM duty cycle only. It does not limit the effective current that is delivered to the motor.

  • Page 55: Status Registers

    Operation Status Registers In addition to various numerical registers that may be queried by the external controller, there are five bit-oriented status registers. These status registers conveniently combine a number of separate bit-oriented fields into a single register. These registers are Event Status, Drive Status, Signal Status, SPI Status, and Drive Fault Status Register. The external controller may directly query these four registers, or the contents of these registers may be utilized by other functional portions of Atlas, such as FaultOut...
  • Page 56 Operation Name Description Undervoltage Set 1 when currently in an undervoltage condition. Cleared 0 if currently not in an undervoltage condition. Disabled Set 1 when the Atlas unit’s Enable pin is inactive. Cleared 0 when the Atlas unit’s Enable pin is active. 8-11 Reserved May contain 0 or 1.

  • Page 57: Safety Processing Functions

    Operation Name Description Disabled Echoes the Disabled bit of the Drive Status register. Set 1 when the Enable pin is inactive. Cleared 0 when the Enable pin is active. Instruction error Echoes the Instruction error bit of the Event Status register. Set 1 when an instruction error occurs.
  • Page 58 Operation • Re-enable the current loop and power stage modules using the command. RestoreOperatingMode If the overcurrent condition has been resolved, at the end of this sequence Atlas will resume normal operations. If the overcurrent condition has not been resolved, the overcurrent condition will immediately occur again, and the recovery sequence described above must be undertaken again.
  • Page 59 Operation To read the current value of the temperature sensor the command GetTemperature is used. Overtemperature faults indicate that the internal safe limit of the drive temperature range has been exceeded. This potentially serious condition can result from incorrect motor connections, excessive power demands placed on the Atlas amplifier, or inadequate heat sinking.
  • Page 60 Operation The instantaneous status of the overvoltage threshold comparison can be read using the command GetDriveStatus Overvoltage faults indicate that a serious safety condition has occurred. It is the responsibility of the user to op- erate Atlas within safe limits. 4.8.4 Undervoltage Fault Atlas also provides the capability to sense undervoltage conditions.
  • Page 61 Operation At the end of this sequence Atlas will resume normal operations. This includes operation of the watchdog timer itself. Unless a zero value has been loaded into the watchdog timeout value (thereby disabling the watchdog timeout), Atlas will immediately begin counting SPI command intervals to determine if a another timeout has occurred. Watchdog timeout faults indicate that a serious safety condition has occurred.
  • Page 62 Operation Name Description Overvoltage Set 1 to indicate an overvoltage event in the supply bus volt- age. Undervoltage Set 1 to indicate an undervoltage event in the supply bus volt- age. Disabled Set 1 to indicate Enable signal was not asserted 8-11 Reserved May contain 0 or 1...

  • Page 63: Current Foldback Processing Example

    Operation Figure 4-10: Continuous Integrated Current current limit energy limit Foldback exceeded exceeded Processing Example Commanded Amps Current Output Amps Current Integrated -sec Energy Time Each Atlas amplifier has particular default and maximum allowed values for both the continuous current limit and energy limit.

  • Page 64: Step Motor Control

    Operation In this example the continuous current limit would be set to 3 amps, and the energy limit would be set to: Energy Limit = (peak current - continuous current limit ) * time Energy Limit = (5A - 3A ) * 2 Sec Energy Limit = 32A Current foldback, when it occurs, may indicate a serious condition affecting motion stability, smoothness, and per-...

  • Page 65: Pulse And Direction Signal Input Mode Control Flow

    Operation Overall, Atlas provides two step-motor specific position command methods. These are summarized in the table below: Position Command Mode Description Pulse & direction signal input Atlas directly supports input of hardware Pulse, Direction, and AtRest sig- nals to interface with traditional external controllers that provide these signals.
  • Page 66 It is possible to restore an Atlas that is functioning in pulse & direction signal mode to SPI operation. While this is an uncommon operation, it may be useful for testing, diagnosing a field problem, or to allow a production Atlas to be used for prototyping with optimization software such as PMD’s Pro-Motion software. Here is how such a recovery is accomplished.
  • Page 67 Operation 4.9.1.4 Fault Processing While in Pulse & Direction Signal Input Mode In order to allow recovery from safety-related faults such as overtemperature or current foldback while operating in pulse & direction signal input mode, an automatic recovery mode is available. While this mode is most often used when in pulse &...

  • Page 68: User Memory Space & Buffers

    Operation To select field oriented control or current control the command is used. The value set can SetCurrentControlMode be read back using GetCurrentControlMode 4.10 User Memory Space & Buffers Figure 4-12: Start Address Function (in Hexadecimal) User Memory Space and 0X0000 0000 Trace RAM (1,020 words) Buffers...

  • Page 69: Trace Capture

    Operation Command Arguments Description SetBufferLength bufferID, length Sets the length of the specified buffer. Length is a 32-bit inte- ger. Atlas adds length to the current buffer base address (as set by the SetBufferStart instruction) to ensure that the buffer will not extend beyond the addressable memory limit.
  • Page 70 Operation Parameter Description Trace variables There are dozens of separate variables and registers within Atlas that may be traced; for example, the phase A current command, the current loop error, etc… The user must specify the variables that will be traced by Atlas. Trace mode Atlas can trace in one of two modes: one-time, or rolling mode.
  • Page 71 Operation Variable ID Name Description Drive Fault Status The Drive Fault Status register SPI Status The SPI Status word Commutation/Phasing Active Motor Command The external controller-commanded voltage or torque com- mand Phase A Command The output command for phase A Phase B Command The output command for phase B Phase C Command...
  • Page 72 Operation Variable ID Name Description Miscellaneous None No trace variable is selected Atlas Time Atlas unit’s processor time in units of cycles Setting a trace variable’s parameter to zero will disable that variable and all subsequent variables. Therefore, if N parameters are to be saved at each trace period, trace variables 0 to (N–1) must be used to identify the parameters to be saved, and trace variable N must be set to zero.
  • Page 73 Operation It is always necessary to specify a start condition for the trace to begin, however it is not necessary to specify a stop condition. If in rolling buffer mode, if no stop condition is specified then the trace will continue indefinitely. If in one- time buffer mode, the trace will continue till the end of the buffer is reached.

  • Page 74: Power-Up

    Operation value will correspond to trace variable 2, up to the number of trace variables used. This is shown in Figure 4-14 with three variables shown captured. Figure 4-14: Trace Data Variable 1 Variable 2 Variable 3 Variable 1 Variable 2 Format Address +0 Along those lines, both the length of the trace buffer and the number of trace variables specified for capture affect the...

  • Page 75: Non-Volatile (Nvram) Storage

    NVRAM can be used for other functions such as labeling the stored initialization sequence, or for general purpose user-defined storage. All data stored in the Atlas NVRAM utlizes a data format known as PMD Structured data Storage Format (PSF). Users who rely only on PMD’s Pro-Motion software package to communicate with Atlas and store and retrieve initialization parameters may not need to concern themselves with the details of PSF.

  • Page 76: Psf Data Segment Format

    Operation 0x0, and 0x1. The user sequence can be specified by the user and may contain any values. The user sequence can be used for any purpose but is often used to identify the type of information stored in the PSF memory space. Following the eight words of sequence words are one or more data storage blocks known as segments, which are themselves structured memory blocks which must follow a specific format.

  • Page 77: Initialization Commands Segment Format

    Command3 Command4... The Initialization Commands segment type selects a segment format that holds the PMD commands that are processed during powerup. The segment type value for the Initialization Commands segment type is 0x92. The overall format of this segment type is shown in Figure 4-17.

  • Page 78: Parameter List Segment Format

    Operation Section 4.13.4, “Initialization Commands Segment Type” for an example of a complete PSF memory image including an initialization command sequence. Section 4.12, “Power-up” for more information on initialization command processing during power up. 4.13.5 Parameter List Segment Type Figure 4-18: Parameter List Segment Header For Segment Header...

  • Page 79: Format Of Parameter Assignment Entry

    Operation 4.13.5.1 Parameter Assignment Entry Figure 4-19: Data1 Parameter2 Parameter1 Format of Parameter Assignment Data2 Parameter4 Parameter3 Entry Data3 Type Length Assigned Value1 Data4 Data5 Assigned Value2 Assigned Value0 Data6... Assigned Value3... Figure 4-19 shows the encoding of the data words for a parameter assignment entry. The Parameter field is specified as four byte-length ASCII characters.
  • Page 80 Other than ensuring that the overall NVRAM memory size is not exceeded and that the segment header format is followed there are no restrictions placed on what can be stored in the PSF memory space. Although not required, PMD recommends that each user-defined segment be preceded with an ID segment that identifies the contents as detailed in Section 4.13.5, “Parameter List Segment...

  • Page 81: Writing And Reading Nvram Data

    Operation Addr Word Contents Comments Figure 4-20: Addr Word Contents Comments Example PSF 0x0000 PSF Start Sequence 0x006c "l" Memory Space 0x0000 0x0065 "e" 0x0000 0x002E "." Image 0x0001 0x0074 "t" 0x0005 PSF User Sequence 0X0078 "x" 0x0006 0x0074 "t" 0x0007 0x4457 ‘W’, ‘D’...

  • Page 82: Spi Communications Overview

    NVRAM memory area should follow the PMD Structured data Format. Failure to do so may result in unexpected behavior of the Atlas unit during power up or during operation. If not used the NVRAM area does not need to be written to or otherwise initialized.

  • Page 83: Spi Communications Protocol Overview

    Operation SPI is a convenient interface because it is available on many microprocessors, provides relatively high speed communications, and uses only 4 signals; SPIClk (Clock), SPICS (chip select), SPISI (slave in), and SPISO (slave out). Atlas utilizes standard SPI signaling and timing control for the hardware interface and implements a higher level protocol on top of this.
  • Page 84 Operation This page intentionally left blank. Atlas® Digital Amplifier Complete Technical Reference...

  • Page 85: Spi Communications

    5.SPI Communications In This Chapter  SPI Communications Overview  Packet Header  Sending a Voltage or Torque Output Value  Sending an Amplifier Disable  Sending aNOP  Sending Atlas Commands SPI Communications Overview Atlas uses an SPI (Serial Peripheral Interface) digital connection to communication with the external controller. This connection is used to setup Atlas parameters, specify voltage or torque output values, monitor Atlas operation, as well as other functions.

  • Page 86: Packet Header

    SPI Communications Packet Header The first two words of the packet are called the header and are used to specify a desired motor voltage or torque along with certain other functions such as when a trace starts and when a command update should occur. Here is a detailed description of the Atlas packet header: Field Name...
  • Page 87 SPI Communications The external controller should verify both the Atlas and Controller checksum. Checksum errors of any kind may indicate a serious problem with external controller to Atlas communications. It it the responsibility of the user to determine the source of any communication problems and take appropriate corrective action 5.2.1.1 Example Checksum Calculations A ones-complement checksum is computed by adding each 8 bit byte as an unsigned quantity, and in case of a carry...

  • Page 88: Sending A Voltage Or Torque Output Value

    SPI Communications Sending a Voltage or Torque Output Value Controller word 0 Data 1 Figure 5-2: Sending a Atlas word 0 SPI Status word Voltage or Torque Output Value Controller word 1 Data 2 Atlas word 1 Atlas checksum Controller checksum Generally the most frequently used header transaction is an instantaneous voltage or torque output request for output by the drive.

  • Page 89: Sending An Amplifier Disable

    SPI Communications Sending an Amplifier Disable Controller word 0 Figure 5-3: checksum Amplifier Atlas word 0 SPI Status word Disable Command Format Controller word 1 Atlas word 1 Atlas checksum Controller checksum The header can be used to rapidly disable Atlas motor output. This operation is identical to sending a command with current loop and power stage modules disabled, however faster.

  • Page 90: Sending Atlas Commands

    Chapter 6, the Programmer Command Reference. Users familiar with PMD’s Magellan, Navigator, or 1st generation motion processor products will note that the overall format of these commands are very similar to those products.

  • Page 91: Query Command Format

    SPI Communications 5.6.2 Error Processing If the command checksum shown in Figure 5-6 received by Atlas does not evaluate to 0xFF Atlas will return an SPI Checksum Error and set the instruction error bit of the Event Status register. In addition to such checksum errors the instruction error bit is set when an otherwise valid instruction or instruction sequence is sent when the Atlas unit’s current operating state makes the instructions invalid, when an invalid opcode is sent, or when the arguments to a command are invalid.
  • Page 92 SPI Communications 5.6.4 Interlacing Command Communications There may be situations where processing the entire Atlas command sequence in one contiguous SPI packet will place an undue burden on the external processor. This is particularly true if the external processor has a large number of axes to manage and a limited time slice to send information to each connected Atlas.

  • Page 93: Instruction Reference

    6. Instruction Reference 6.1 How to Use This Reference The instructions are arranged alphabetically, except that all “Set/Get” pairs (for example, SetFOC GetFOC ) are described together. Each description begins on a new page and most occupy no more than a single page. Each page is organized as follows: Name The instruction mnemonic is shown at the left, its hexadecimal code at the right.
  • Page 94 ClearDriveFaultStatus Syntax ClearDriveFaultStatus Motor Types DC Brush Brushless DC Microstepping Arguments None Packet ClearDriveFaultStatus Structure checksum Description ClearDriveFaultStatus clears all bits in the Drive Fault Status register. A bit is cleared only if it has been read by GetDriveFaultStatus since the last detection of the fault condition, so that information on faults detected between GetDriveFaultStatus ClearDriveFaultStatus...
  • Page 95 DriveNVRAM Syntax DriveNVRAM Option Value Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding option NVRAM Mode Erase NVRAM Write Block Write Begin Block Write End Skip Type Range value unsigned 16-bit See below None Packet DriveNVRAM Structure write checksum write...
  • Page 96 DriveNVRAM (cont.) Description NVRAM bits may be cleared individually, but may only be set as an entire block. This operation is (cont.) called an erase, in the erased state each word reads as 0xFFFF. Typically NVRAM will be erased each time new initialization instructions are written, but this is not absolutely required. In order to erase NVRAM, use the command 1 0, and follow the wait sequence DriveNVRAM...
  • Page 97 GetActiveOperatingMode Syntax GetActiveOperatingMode Motor Types DC Brush Brushless DC Microstepping Arguments None Returned Data Type mode unsigned 16 bits bit field Packet GetActiveOperatingMode Structure checksum First data word read mode Description gets the actual operating mode that the Atlas is currently using. This may or GetActiveOperatingMode may not be the same as the static operating mode, as safety responses or programmable conditions may change the...
  • Page 98 GetBusVoltage Syntax GetBusVoltage Motor Types DC Brush Brushless DC Microstepping Arguments None Returned Data Type Range Scaling voltage unsigned 16 bits 0 to 2 –1 1.3612 mv/count Packet GetBusVoltage Structure checksum First data word read voltage Description GetBusVoltage gets the most recent bus voltage reading from the Atlas. Restrictions Get/SetDriveFault 102)
  • Page 99 GetChecksum Syntax GetChecksum Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Name Type checksum unsigned 32 bits Packet GetChecksum Structure checksum First data word read checksum (high-order part) Second data word read checksum (low-order part) Description reads the Atlas internal 32-bit checksum value. The return value is dependent on the GetChecksum silicon revision number of the motion processor.
  • Page 100 GetCommandedPosition Syntax GetCommandedPosition Motor Types Microstepping Arguments None Returned data Type Range Scaling Units position signed 32 bits –2 to 2 –1 unity microsteps Packet GetCommandedPosition Structure checksum First data word read position (high-order part) Second data word read position (low-order part) Description GetCommandedPosition returns the commanded position.
  • Page 101 GetCurrentLoopValue Syntax GetCurrentLoopValue loopnum node Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding phase Phase A Phase B node Reference Actual Current Error — (Reserved) Integral Contribution Output t Energy Returned data Type Range/Scaling value signed 32 bits see below Packet GetCurrentLoopValue...
  • Page 102 GetDriveFaultStatus Syntax GetDriveFaultStatus Motor Types DC Brush Brushless DC Microstepping Arguments None Returned Data Type status unsigned 16 bits see below Packet GetDriveFaultStatus Structure checksum First Data Word read DriveFaultStatus Description GetDriveFaultStatus gets the Drive Fault Status register, which is used to report the cause of several disabling events.
  • Page 103 GetDriveFaultStatus (cont.) Description SPI Checksum Error means that an error was detected in the header (first two words) of an SPI packet, (cont.) used for sending torque commands. Checksums are only used when sending an amplifier disable command. See Section 5.4, “Sending an Amplifier Disable” for more information.
  • Page 104 GetDriveStatus Syntax GetDriveStatus Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Type status unsigned 16 bits see below Packet GetDriveStatus Structure checksum First Data Word read DriveStatus Description GetDriveStatus reads the Drive Status register. All of the bits in this status word are set and cleared by Atlas.
  • Page 105 GetEventStatus Syntax GetEventStatus Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Type status unsigned 16 bits see below Packet GetEventStatus Structure checksum Data read Event Status Description reads the Event Status register. All of the bits in this status word are set by the internal GetEventStatus events and cleared by command.
  • Page 106 GetFOCValue Syntax GetFOCValue loop node Motor Types Brushless DC Microstepping Arguments Name Instance Encoding loop Direct (d) Quadrature (q) node Reference (d,q) Feedback (d,q) Error (d,q) — (Reserved) Integral Contribution (d,q) Output (d,q) FOC Output (Alpha,Beta) Actual Current (A,B) t Energy Returned data Type Range/Scaling...
  • Page 107 GetFOCValue (cont.) Description Most of the nodes have units of % maximum current, and most have a scaling of 100/2^14. That is, a (cont.) value of 2^14 corresponds to 100% maximum current. The range is extended to allow for overshoot in excess of maximum peak current, and thus values can be more than 100% of the maximum output current.
  • Page 108 GetInstructionError Syntax GetInstructionError Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Type Range First Error unsigned 8 bits 0 to 1Ch Second Error unsigned 8 bits 0 to 1Ch Packet GetInstructionError Structure checksum Data read Second Error First Error Description returns two 8 bit codes indicating command failures, and then resets both...
  • Page 109 GetInstructionError (cont.) Description (cont.) Error Code Encoding Invalid torque command Bad flash checksum Command not valid in flash mode — (Reserved) Command valid only for initialization Restrictions GetEventStatus 105) ResetEventStatus 124) Atlas® Digital Amplifier Complete Technical Reference...
  • Page 110 GetPhaseAngle Syntax GetPhaseAngle Motor Types Brushless DC Microstepping Arguments None Type Range Scaling Units angle unsigned 16 bits 0 to 2 –1 unity revolutions microsteps Packet Structure GetPhaseAngle checksum Data read angle Description GetPhaseAngle returns the instantaneous commutation or microstepping angle as set by the last torque command.
  • Page 111 GetPhaseCommand Syntax GetPhaseCommand phase Motor Types Brushless DC Microstepping Arguments Name Instance Encoding phase Phase A Phase B Phase C Returned data Type Range Scaling Units command signed 16 bits –2 to 2 –1 100/2 % output Packet GetPhaseCommand Structure checksum First data word write...
  • Page 112 GetSignalStatus Syntax GetSignalStatus Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Type see below unsigned 16 bits Packet GetSignalStatus Structure checksum Data read Signal Status Description GetSignalStatus returns the contents of the Signal Status register. Each bit in the Signal Status register is set if the corresponding signal is high, and clear if the signal is low.
  • Page 113 GetTemperature Syntax GetTemperature Motor Types DC Brush Brushless DC Microstepping Arguments None Returned Data Type Range Scaling Units temperature signed 16 bits –2^15 to 2^15–1 °C Packet GetTemperature Structure checksum First data word read temperature Description GetTemperature gets the most recent temperature reading from the Atlas internal temperature sensor.
  • Page 114 GetTime Syntax GetTime Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Name Type Range Scaling Units time unsigned 32 bits 0 to 2 –1 unity cycles Packet GetTime Structure checksum First data word read time (high-order part) Second data word read time (low-order part)
  • Page 115 GetTraceCount Syntax GetTraceCount Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Name Type Range Scaling Units count unsigned 32 bits 0 to 2 –1 unity samples Packet GetTraceCount Structure checksum First data word read count (high-order part) Second data word read count (low-order part)
  • Page 116 GetTraceStatus Syntax GetTraceStatus Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Name Type see below unsigned 16 bits Packet GetTraceStatus Structure checksum Data read Trace Status Description GetTraceStatus returns the trace status. The definitions of the individual status bits are as follows: Name Bit Number Description...
  • Page 117 GetTraceValue Syntax GetTraceValue VariableID Arguments Name Instance Encoding VariableID see SetTraceVariable 152) Returned data Name Type Value signed and unsigned 32bits Packet GetTraceValue Structure write checksum Data write VariableID read Value high word read Value low word Description is used to read a single traceable value, without having to set up the trace buffer, GetTraceValue trace mode, and so forth.
  • Page 118 GetVersion Syntax GetVersion Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data Name Type version unsigned 32 bits Packet GetVersion Structure checksum First data word read product family motor type number of axes special # chips 28 27 24 23 20 19 18 17...
  • Page 119 InitializationDelay Syntax InitializationDelay option cycles Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding option time delay Name Type Range Scaling cycles unsigned 32 bits unity Returned data None Packet Structure write checksum write option write Delay (high order part) write Delay (low order part) Description...
  • Page 120 NoOperation Syntax NoOperation Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data None Packet NoOperation Structure checksum Description NoOperation command has no effect on the motion processor. It may be useful for verifying or synchronizing communications. Restrictions Atlas® Digital Amplifier Complete Technical Reference...
  • Page 121 ReadBuffer16 Syntax ReadBuffer16 bufferID Motor Types DC Brush Brushless DC Microstepping Arguments Name Type Range bufferID unsigned 16 bits 0 to 3 Returned data Type Range data signed 16 bits –2 to 2 –1 Packet ReadBuffer Structure checksum First data word write bufferID data word...
  • Page 122 Reset Syntax Reset Motor Types DC Brush Brushless DC Microstepping Arguments None Returned data None Packet Reset Structure checksum Description Reset restores the motion processor to its initial condition, setting all motion processor variables to their default values. Most variables are motor-type independent; however several default values depend upon the motor type of the Atlas.
  • Page 123 Reset (cont.) Description (cont.) Default Value Low Power Medium Power High Power Buffered Overvoltage Limit 38,207 (52 V) 38,207 (52 V) 44,085 (60 V) Undervoltage Limit 7348 (10 V) 7348 (10 V) 7348 (10 V) Overtemperature Limit 19,200 (75 ° °...
  • Page 124 ResetEventStatus Syntax ResetEventStatus mask Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding mask Instruction Error FF7Fh Overtemperature Fault FDFFh Drive Exception FBFFh Current Foldback EFFFh Returned data None Packet ResetEventStatus Structure checksum Data write mask Description clears (sets to 0) each bit in the Event Status register that has a value of 0 in the mask ResetEventStatus sent with this command.
  • Page 125 RestoreOperatingMode Syntax RestoreOperatingMode Motor Types DC Brush Brushless DC Microstepping Arguments None Packet RestoreOperatingMode Structure checksum Description RestoreOperatingMode is used to command Atlas to return to its static operating mode. It should be used when the active operating mode has changed due to actions taken from safety events or other programmed events.
  • Page 126 SetBufferLength GetBufferLength Syntax SetBufferLength bufferID length GetBufferLength bufferID Motor Types DC Brush Brushless DC Microstepping Arguments Name Type Range bufferID unsigned 16 bits 0 to 3 length unsigned 32 bits 1 to 2 – 1 Packet SetBufferLength Structure checksum First data word write bufferID Second data word...
  • Page 127 SetBufferReadIndex GetBufferReadIndex Syntax SetBufferReadIndex bufferID index GetBufferReadIndex bufferID Motor Types DC Brush Brushless DC Microstepping Arguments Name Type Range Scaling Units bufferID unsigned 16 bits 0 to 3 unity index unsigned 32 bits 0 to buffer unity double words length - 1 Packet SetBufferReadIndex Structure...
  • Page 128 SetBufferStart GetBufferStart Syntax SetBufferStart bufferID address GetBufferStart bufferID Motor Types DC Brush Brushless DC Microstepping Arguments Name Type Range Units bufferID unsigned 16 bits 0 to 3 address unsigned 32 bits 0 to 2 – 1 double words Packet SetBufferStart Structure checksum First data word...
  • Page 129 SetCurrent GetCurrent Syntax SetCurrent option value GetCurrent option Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding option Holding Current Reserved Drive Current Type Range Scaling Units value 16-bit unsigned 0 to 2 100/2 % max output Packet SetCurrent Structure write...
  • Page 130 SetCurrentControlMode buffered GetCurrentControlMode Syntax SetCurrentControlMode axis mode GetCurrentControlMode Syntax Motor Types Brushless DC Microstepping Arguments Name Instance Encoding mode Individual phase Third leg floating Packet SetCurrentControlMode Structure checksum First data word write mode GetCurrentControlMode checksum First data word read mode Description configures Atlas to use either the Individual phase method, or the FOC SetCurrentControlMode...
  • Page 131 SetCurrentFoldback GetCurrentFoldback Syntax SetCurrentFoldback parameter value GetCurrentFoldback parameter Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding parameter Continuous Current Limit 0 Energy Limit Type Range/Scaling value unsigned 16-bit see below Packet SetCurrentFoldback Structure checksum First data word write parameter Second data word...
  • Page 132 SetCurrentFoldback (cont.) GetCurrentFoldback Description The Continuous Current Limit is used by the current foldback algorithm. When the current output of the (cont.) drive exceeds this setting, accumulation of the I energy above this setting begins. Once the accumulated energy exceeds the value specified by the Energy Limit parameter, a current foldback condition excess I exists and the commanded current will be limited to the specified Continuous Current Limit.
  • Page 133 SetCurrentLoop buffered GetCurrentLoop Syntax SetCurrentLoop phase parameter value GetCurrentLoop phase parameter Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding phase Phase A Phase B Both (A and B) parameter Proportional Gain (KpCurrent) Integral Gain (KiCurrent) Integral Sum Limit (ILimitCurrent) Type Range/Scaling value...
  • Page 134 SetCurrentLoop (cont.) buffered GetCurrentLoop Description ILimitCurrent is used to limit the contribution of the integral sum at the output. Its effect depends on the (cont.) value of KiCurrent. Setting ILimitCurrent to 1000 when KiCurrent is 10 means that the maximum contribution to the output is 1000 x 10 = 10,000 out of 2^15 - 1 or approximately 30.5% The phase argument can be used to set the operating parameters for the A and B loops independently.
  • Page 135 SetDriveCommandMode GetDriveCommandMode Syntax SetDriveCommandMode mode GetDriveCommandMode Arguments Name Instance Encoding format BLDC Step transport Pulse and Direction Packet Structure SetDriveCommand mode write checksum write transport format GetDriveCommand mode write checksum write transport format Description SetDriveCommandMode may be used to change the means of commanding Atlas motor torque. The transport field specifies the physical interface used for torque commands, either the default Serial Peripheral Interface, or Pulse and Direction.
  • Page 136 SetDriveFaultParameter GetDriveFaultParameter Syntax SetDriveFaultParameter parameter value GetDriveFaultParameter parameter Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding parameter Overvoltage limit Undervoltage limit Recovery mode Watchdog limit Temperature limit Temperature hysteresis Type Range/Scaling value unsigned 16 bits see below Packet SetDriveFaultParameter Structure...
  • Page 137 SetDriveFaultParameter (cont.) GetDriveFaultParameter Description The temperature limit specifies a temperature above which an overtemperature drive fault is signaled (cont.) and an overtemperature event raised, disabling motor output. After an overtemperature event the temperature must fall to the temperature limit minus the hysteresis value before the event and drive fault may be cleared.
  • Page 138 SetDrivePWM GetDrivePWM Syntax SetDrivePWM option value GetDrivePWM option Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding option Limit Type Range Scaling Units value 16-bit unsigned 0 to 2 –1 100/2 % max output Packet SetDrivePWM Structure write checksum write option...
  • Page 139 SetEventAction GetEventAction Syntax SetEventAction event action GetEventAction event Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding event Immediate — (Reserved) Current Foldback action None — (Reserved) Disable Motor Output & Higher Modules Packet SetEventAction Structure checksum First data word write event Second data word...
  • Page 140 SetFaultOutMask GetFaultOutMask Syntax SetFaultOutMask mask GetFaultOutMask Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding mask see below bitmask Packet SetFaultOutMask Structure checksum First data word write mask GetFaultOutMask checksum First data word read mask Description SetFaultOutMask configures the mask on Drive Fault Status register bits that will be ORed together on the FaultOut pin.
  • Page 141 SetFOC buffered GetFOC Syntax SetFOC loop parameter value GetFOC loop parameter Motor Types Brushless DC Microstepping Arguments Name Instance Encoding loop Direct(d) Quadrature(q) Both(d and q) parameter Proportional Gain (KpDQ) Integral Gain (KiDQ) Integral Sum Limit (ILimitDQ) Type Range/Scaling value unsigned 16 bits see below Packet...
  • Page 142 SetFOC (cont.) buffered GetFOC Description Similarly, setting KiDQ to 256 gives it a gain of 1; the value of the integral sum would become the integral (cont.) contribution to the output. ILimitDQ is used to limit the contribution of the integral sum at the output. Its effect depends on the value of KiDQ.
  • Page 143 SetMotorType Get Motor Type Syntax SetMotorType axis type GetMotorType axis Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding type Brushless DC (3 phase) 0 Microstepping (2 phase) 3 DC Brush Packet SetMotorType Structure checksum Data write type GetMotorType checksum Data...
  • Page 144 SetOperatingMode GetOperatingMode Syntax SetOperatingMode mode GetOperatingMode Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding Type Range/Scaling mode unsigned 16-bit see below Packet SetOperatingMode Structure checksum First data word write mode GetOperatingMode checksum First data word read mode Description configures the operating mode.
  • Page 145 SetOperatingMode (cont.) GetOperatingMode Description This command should be used to configure the static operating mode. The actual current operating mode (cont.) may be changed in response to safety events, or user-programmable events. In this case, the present operating mode is available using GetActiveOperatingMode GetOperatingMode will always return the static...
  • Page 146 SetPhaseCounts GetPhaseCounts Syntax SetPhaseCounts counts GetPhaseCounts Motor Types Microstepping Arguments Name Instance Encoding Type Range Scaling Units counts unsigned 16 bits 1 to 1024 unity microsteps Packet SetPhaseCounts Structure checksum Data write counts GetPhaseCounts checksum Data read counts Description For axes configured for microstepping motor types, the number of microsteps per full step is set using SetPhaseCounts command.
  • Page 147 SetPWMFrequency GetPWMFrequency Syntax SetPWMFrequency frequency GetPWMFrequency Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding Type Range Scaling Units frequency unsigned 16 bits see below 125/32 Packet SetPWMFrequency Structure checksum Data write frequency GetPWMFrequency checksum Data read frequency Description SetPWMFrequency sets the PWM output frequency (in kHz).
  • Page 148 SetTraceMode GetTraceMode Syntax SetTraceMode mode GetTraceMode Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding roll mode One Time Rolling Buffer Trigger Internal Trigger External Trigger Packet SetTraceMode Structure write checksum Data roll write Trigger mode GetTraceMode write checksum Data roll...
  • Page 149 SetTracePeriod GetTracePeriod Syntax SetTracePeriod period GetTracePeriod Motor Types DC Brush Brushless DC Microstepping Arguments Name Type Range Scaling Units period unsigned 16 bits 1 to 2 –1 unity cycles Packet SetTracePeriod Structure write checksum Data write period GetTracePeriod write checksum Data read period...
  • Page 150 SetTraceStart GetTraceStart Syntax SetTraceStart condition GetTraceStart Arguments Name Instance Encoding condition Immediate SPI Command Packet SetTraceStart Structure write checksum Data condition GetTraceStart write checksum Data condition Description SetTraceStart sets the condition for starting a trace, and must be called before any tracing can be done. If the immediate condition is specified tracing will begin as soon as the command is processed.
  • Page 151 SetTraceStop GetTraceStop Syntax SetTraceStop condition GetTraceStop Arguments Name Instance Encoding condition Immediate SPI Command Packet SetTraceStop Structure write checksum Data condition GetTraceStop write checksum Data condition Description SetTraceStop sets the condition for starting a trace, and must be called to reset the internal trace state before starting again.
  • Page 152 SetTraceVariable GetTraceVariable Syntax SetTraceVariable variableNumber variableID GetTraceVariable variableNumber Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding variableNumber Variable1 Variable2 Variable3 Variable4 variableID Status Registers Event Status Signal Status Drive Status Drive Fault Status SPI Status Commutation/Phasing Active Motor Command Phase A Command Phase B Command Phase C Command...
  • Page 153 SetTraceVariable (cont.) GetTraceVariable Arguments Motor Output Bus Voltage (cont.) Temperature I2t Energy Terminal A Output Terminal B Output Terminal C Output Leg Current A Leg Current B Leg Current C Leg Current D Clip Factor Miscellaneous None (disable variable) Atlas Time Packet SetTraceVariable Structure...
  • Page 154 Update Syntax Update Motor Types DC Brush Brushless DC Microstepping Arguments None Packet Update Structure checksum Description Update command should only be called from the nonvolatile initialization memory, when using SPI communication the update bit in the torque command should be set to command an update. Restrictions Non-volatile initialization only.

  • Page 155: Developer Kit Components (Four-Axis Version Shown)

    A.Atlas Developer’s Kit In This Appendix  Overview  Installation and Getting Started  Atlas Carrier Card Reference Information  L-Bracket Overview Figure A-1: Developer Kit Components $7/$6 $03/,),(5 (four-axis version shown) $7/$6 '. &$55,(5 &$5' $66(0%/< /%5$&.(7 $66(0%/< $7/$6 '. '% &20081,&$7,216 &$%/( To simplify development with Atlas Amplifiers a developer’s kit (DK) is available.

  • Page 156: Connecting Db9 Cable To Carrier Card

    Atlas Developer’s Kit • L-bracket base and, if vertical Atlas units are installed, vertical plate for heat sink attachment with associated mounting hardware (comes in 1 or 4 axis version) The base plate provides a stable mechanical base from which you can connect and operate your prototype system. With the vertical plate installed the Atlas units have additional heat sinking, which can be extended further by connecting the vertical plate to your own heat sink or cold plate.
  • Page 157 Atlas Developer’s Kit A.2.2 Motor Connections Refer to Figure A-3 for detailed information on connector placement. For each Atlas, connect the motor using the chart below and the correct axis-specific 6-terminal jack screw plug on the carrier card, either J2, J5, J8, or J11 for axis 1, 2, 3, or 4 respectively.

  • Page 158: Component Placement Of Vertical And Horizontal Dk Carrier Cards (Four-Axis Version Shown)

    Atlas Developer’s Kit A.2.6 Powering Up the Atlas Units Once all connections are made and Pro-Motion is installed and running you are ready to provide power to the Atlas units. Upon doing so verify that there is no motor movement, all power LEDs are lit, and none of the fault out LED indicators are lit.
  • Page 159 Atlas Developer’s Kit A.3.1 J2, J5, J8, and J11 Motor Connectors J2, J5, J8, and J11 provide jack screw-style connections to the Atlas motor signals. J2, J5, J8 or J11 Connector Carrier Card Label Name Description Mtr D Motor D D Motor connection Mtr C Motor C...
  • Page 160 Atlas Developer’s Kit A.3.5 J13 DB9 Connector A.3.5.1 SPI Communications J13 is used to provide SPI communications between the Atlas DK card and a Magellan DK card or the user's motion control system. Here are the pinouts for J13 when used for SPI communications J13 Connector Name Description...

  • Page 161: Vertical Unit Pinouts

    Atlas Developer’s Kit A.3.6 Atlas Connections The carrier card connects to the Atlas units via sockets at J14, J15, J16, and J17. The tables below show the Atlas connections for these connectors A.3.6.1 Vertical Unit Connections Figure A-4: 19 17 15 13 11 9 Vertical Unit 20 18 16 14 12 10 8 Pinouts...

  • Page 162: Horizontal Unit Pinouts

    Atlas Developer’s Kit A.3.6.2 Horizontal Unit Connections Figure A-5: Horizontal Unit 11 9 7 5 3 1 Pinouts 12 10 8 6 4 2 22 21 20 19 18 17 16 15 14 13 J14A, J15A, J16A, & J17A Connectors Name Name Motor D...

  • Page 163: Vertical And Horizontal Compact To Ultra Compact Package Signal Converters

    Atlas Developer’s Kit A.3.7 Compact To Ultra Compact Package Signal Converters Figure A-6: Vertical and Horizontal Compact to Ultra Compact Package Signal Converters When ultra compact package Atlas units are installed in the Atlas DK, signal converter cards are installed between the DK carrier cards and the Atlas unit.
  • Page 164 Atlas Developer’s Kit A.3.7.2 Horizontal Ultra Compact Converter Pinouts The following section shows the connections provided by the horizontal converter. Ultra Compact Compact Package Pin Package Pin Name 1, 2 Motor D 3, 4 Motor C 5, 6 Motor B 7, 8 Motor A 9, 10...

  • Page 165: Mounting Atlas To L-Bracket Plates (Four-Axis, Vertical Version Shown)

    Atlas Developer’s Kit $7/$6 $03/,),(5 ; Figure A-7: Mounting Atlas 6&5(:6 0 ; to L-bracket Plates (four- 6&5(:6 0 ; axis, vertical version shown) /%5$&.(7 $66(0%/< A.4.1 Mounting Atlas to Vertical Plate For compact package size vertical units two M2.5 BHCS (Button Head Cap Screws) or similar are used to attach the Atlas units to the vertical plate.

  • Page 166: Top And Front Views Of Four-Axis Horizontal Atlas Dk L-Bracket Vertical Plate

    Atlas Developer’s Kit A.4.2 Mounting L-bracket to Other Hardware To maximize heat sinking capacity you may choose to mount the vertical L-bracket piece to your own hardware. For best thermal performance, a material such as Sil-Pad thermal grease or phase change material should be utilized between metal interfacing layers.

  • Page 167: B. Application Notes

    Application Notes B.Application Notes In This Appendix  Brushless DC Atlas With Single-Axis MC58113 Motion Control IC  DC Brush & Step Motor Atlas With Multi-Axis Magellan  Step Motor Atlas Operating In Pulse & Direction Mode  DC Brush Atlas With PIC Microcontroller ...
  • Page 168 Application Notes To ensure optimal SPI communication, please consider the following layout recommendations: 1 Keep traces short and use 45 degree corners instead of 90 degree corners. 2 All SPI signal traces should be located next to a continuous ground plane, or if possible, between two continuous ground planes.

  • Page 169: Brushless Dc Atlas With Single-Axis Magellan

    Application Notes Figure B-1: Brushless DC Atlas With Single-Axis Magellan Atlas® Digital Amplifier Complete Technical Reference...
  • Page 170 Application Notes DC Brush & Step Motor Atlas with Multi-Axis Magellan The following schematic shows a two-axis application with one DC Brush Atlas Amplifier and one step motor Atlas amplifier controlled by a multi-axis Magellan. B.2.1 Atlas Power Input and Motor Output Atlas is powered through pin pairs HV and Pwr_Gnd, and the power source is a transformer-isolated DC power supply.

  • Page 171: Dc Brush & Step Motor Atlas With Multi-Axis Magellan

    Application Notes Figure B-2: DC Brush & Step Motor Atlas With Multi-Axis Magellan Atlas® Digital Amplifier Complete Technical Reference...
  • Page 172 Application Notes Step Motor Atlas Operating In Pulse & Direction Mode The following schematic shows Atlas operated in pulse & direction mode controlled by a single axis Magellan. Note that any source of pulse & direction signals, such as a microprocessor or other dedicated motion control IC, may be substituted for the Magellan in this schematic.

  • Page 173: Step Motor Atlas Operating In Pulse & Direction Mode

    Application Notes Figure B-3: Step Motor Atlas Operating In Pulse & Direction Mode Atlas® Digital Amplifier Complete Technical Reference...
  • Page 174 Application Notes DC Brush Atlas with PIC Microcontroller The following schematic shows a DC Brush Atlas amplifier connected to a Microchip Technologies' PIC microcontroller. Atlas receives torque commands through the PIC's SPI interface. A wide variety of microcontrollers, DSP-type devices, or FPGAs supporting SPI interfaces can control Atlas directly. Microchip’s dsPIC33FJ64GS606 is used in this example.

  • Page 175: Dc Brush Atlas With Pic Microcontroller

    Application Notes Figure B-4: DC Brush Atlas With PIC Microcontroller Atlas® Digital Amplifier Complete Technical Reference...
  • Page 176 Application Notes Step Motor Atlas with ARM Microcontroller The following schematic shows a step motor Atlas amplifier connected to an STMicroelectronic’s ARM microcontroller. Atlas receives torque commands through the ARM's SPI interface. A wide variety of microcontrollers, DSP-type devices, or FPGAs supporting SPI interfaces can control Atlas directly. STMicroelectronic’s STR912FAZ44H6T is used in this example.

  • Page 177: Step Motor Atlas With Arm Microcontroller

    Application Notes Figure B-5: Step Motor Atlas With Microcontroller Atlas® Digital Amplifier Complete Technical Reference...
  • Page 178 Atlas operation. This application note provides some examples to address above issues. In the example schematic, PMD’s Magellan IO and CP chips are used to control the two Atlas units on the daughter card(s). Because of the length of the connecting cable between the host board and daughter board(s), there are buffers added on the SPI bus on the host board in order to boost the signal driving and sinking capabilities.
  • Page 179 Application Notes In this case, an L-C-L network can be used to provide high-frequency isolations among the modules. For example, for Atlas U3, C1 is between the Atlas HV and Pwr_Gnd. It serves as the bank capacitor for Atlas operation when necessary.

  • Page 180: Atlas Interfacing Via A Daughter Card #1

    Application Notes Figure B-6: Atlas Interfacing Via A Daughter Card #1 Atlas® Digital Amplifier Complete Technical Reference...

  • Page 181: Atlas Interfacing Via A Daughter Card #2

    Application Notes Figure B-7: Atlas Interfacing Via A Daughter Card #2 Atlas® Digital Amplifier Complete Technical Reference...
  • Page 182 Application Notes Multi-Motor Atlas with Single-Axis MC58113 Motion Control IC The following schematic shows multi-motor Atlas with single-axis MC58113 motion control IC. B.7.1 Atlas Power Input and Motor Outputs Atlas is powered through pin pairs HV and Pwr_Gnd, and the power source is a transformer-isolated DC power supply.

  • Page 183: Multi-Motor Atlas With Mc58113 Motion Control Ic

    Application Notes Figure B-8: Multi-motor Atlas With MC58113 Motion Control Atlas® Digital Amplifier Complete Technical Reference...
  • Page 184 Application Notes This page intentionally left blank.
  • Page 185 Index Symbols ~Enable 26 DC brush & step motor Atlas, multi-axis magellan 170 ~SPICS 26 DC brush Atlas, PIC microcontroller 174 DC brush motors 34 DC characteristics 25 absolute maximum ratings 24 ~Enable 26 AC characteristics 27 ~SPICS 26 amplifier disable, sending 89 5V 26 application notes 167 FaultOut 26...
  • Page 186 individual 47 Hall sensors, phasing with 43 voltage mode 48 horizontal unit with step motors 48 with tabs 17 phase initialization, incremental encoders 45 without tabs 17 phasing, Hall sensors 43 phasing, with Encoder 44 physical characteristics 16 individual phase control pin descriptions 27, 30 step motors 48 pinouts 27...
  • Page 187 FaultOut 32 voltage or torque output, sending 88 Signal Status register 56 SPI bus connections 156 watchdog timeout 60 SPI communications overview 82, 85 SPI pulse & direction mode 67 SPI Status register 56 SPIClk 25 SPISI 25 SPISO 25 status Drive Status 55 Event Status 55...
  • Page 188 This page intentionally left blank.

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