Related Manuals for Performance Motion Devices Juno MC74113
Summary of Contents for Performance Motion Devices Juno MC74113
- Page 1 Juno Step Motor Control IC User Guide Performance Motion Devices, Inc. 1 Technology Park Drive Westford, MA 01886 Revision 1.2 May, 2019...
- Page 2 This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is pro- tected by federal copyright law. The contents of this document may not be disclosed to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express written permission of Performance Motion Devices, Inc.
- Page 3 “Unauthorized Applications” and use of a Performance Motion Devices, Inc. product in such a system would not be warranted or approved by Performance Motion Devices, Inc.
- Page 4 Related Documents DK78113 Developer Kit User Manual How to install and configure the DK78113 developer kit. This developer kit supports all 64-pin TQFP Juno ICs including MC71112, MC73112, MC71113, MC73113, MC74113, MC75113, and MC78113. DK74113N Developer Kit User Manual How to install and configure the DK74113N developer kit. This developer kit supports the two 56-pin VQFN Juno step motor control ICs;...
-
Page 5: Table Of Contents
Table of Contents 1. The Juno IC Family ............. . 9 Introduction . - Page 6 Settable Parameters ............... . . 56 Signal Processing.
- Page 7 List of Figures This page intentionally left blank. 64-Pin TQFP Physical Dimensions ............15 56-Pin VQFN Physical Dimensions .
- Page 8 15-7 Step Motor Drive with 10A Continuous Current Rating ........109 15-8 Step Motor Control with Sign/Magnitude Signal .
-
Page 9: The Juno Ic Family
Juno IC Developer Kits Introduction This manual describes the MC74113, MC74113N, MC75113 and MC75113N ICs from Performance Motion Devices, Inc. These devices comprise the step motor control ICs of PMD Corp.’s Juno Velocity & Torque Control IC family. Additional members of the family are the MC71113, MC73113, and MC78113 ICs for velocity control of DC Brush and Brushless DC motors, and the MC71112, MC71112N, MC73112, and MC73112N ICs for torque control of DC Brush and Brushless DC motors. -
Page 10: Family Overview
The Juno IC Family Family Overview The following table summarizes the operating modes and control interfaces supported by the Juno IC family: Note that the MC78113 IC allows the motor type to be selected by the user. It provides all of the operating modes indicated for the MC71113, MC73113, and MC74113 Juno ICs. -
Page 11: Juno Ic Developer Kits
The Juno IC Family Juno IC Developer Kits Three different Juno developer kits are available. All of the 64-pin TQFP package Juno ICs are supported via the DK78113 developer kit board. The DK part numbers differ in the specific type of Juno IC that is installed. Developer Juno IC Kit P/N... -
Page 12: This Page Intentionally Left Blank
The Juno IC Family This page intentionally left blank. Juno Step Motor Control IC User Guide... -
Page 13: Functional Characteristics
2.Functional Characteristics In This Chapter Configurations, Parameters, and Performance Physical Dimensions, 64-PIN TQFP Package Physical Dimensions, 56-PIN VQFN Package Absolute Maximum Environmental and Electrical Ratings Configurations, Parameters, and Performance Control command sources Pulse & Direction Position is provided via external pulse & direction input Position is provided via SPI (Serial Peripheral Interface) direct input... - Page 14 Functional Characteristics Output limiting t, current, and voltage limit Microsteps per full step 1 to 256 Maximum encoder rate 40 Mcounts/sec Position-capture triggers Index signal Internal RAM 6,144 16-bit words Maximum number of simultaneous trace variables NVRAM 1,024 16-bit words Juno Step Motor Control IC User Guide...
-
Page 15: Physical Dimensions, 64-Pin Tqfp Package
Functional Characteristics Physical Dimensions, 64-PIN TQFP Package All dimensions are in millimeters. Figure 2-1: 64-Pin TQFP Physical Dimensions Notes: 1 Juno IC is RoHS compliant and free of Bromine and Antimony based flame retardants. 2 Moisture sensitive level: MSL 3 Juno Step Motor Control IC User Guide... -
Page 16: Physical Dimensions, 56-Pin Vqfn Package
Functional Characteristics Physical Dimensions, 56-PIN VQFN Package Front Figure 2-2: View 56-Pin VQFN Physical Dimensions Pin #1 Indicator 0.05 0.00 Seating Plane 0.25 0.20 0.15 Bottom Pin #1 Indicator View 0.60 0.40 0.40 Thermal 7.15 6.85 Notes: 1 Juno IC is RoHS compliant and free of Bromine and Antimony based flame retardants. 2 Moisture sensitive level: MSL 3 Juno Step Motor Control IC User Guide... -
Page 17: Absolute Maximum Environmental And Electrical Ratings1
Functional Characteristics Absolute Maximum Environmental and Electrical Ratings Supply voltage (Vcc) -0.3V to +4.6V FltCap pin voltage range -0.3V to 2.5V Analog voltage range with respect to AnalogGND (AnalogVcc) -0.3V to +4.6V Input voltage (Vi) -0.3V to +4.6V Output voltage (Vo) -0.3V to +4.6V Input clamp current (Ii,clamp), peak: +/-20 mA... - Page 18 Functional Characteristics This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 19: Electrical Characteristics
3.Electrical Characteristics In This Chapter DC Characteristics for MC74113, MC74113N, MC75113, MC75113N ICs AC Characteristics DC Characteristics (Vcc and Ta per operating ratings, Fclkin=10.0MHz) Symbol Parameter Minimum Maximum Conditions Supply voltage 2.97V 3.63V With respect to GND Supply current 115 mA All I/O pins are floating AnalogV... -
Page 20: Ac Characteristics
Electrical Characteristics Symbol Parameter Minimum Maximum Conditions Analog input voltage range 3.3V With respect to analog AnalogGND Analog input capacitance 5 pF typical Differential nonlinearity error. Difference between the step width and the ideal value. No missing codes. Integral nonlinearity error. Maximum deviation from the best straight line through the ADC transfer characteristics, excluding... - Page 21 Electrical Characteristics 3.2.2 Timing Interval SPIClock clock cycle time 80 nSec Pulse duration, SPIClock high 33 nSec Pulse duration, SPIClock low 33 nSec ~SPIEnable low to first SPIClock high SPIClock high to SPIXmt valid delay time 21 nSec SPIXmt data valid time after SPIClock low SPIRcv setup time before SPIClock high 25 nSec SPIRcv valid time after SPIClock low...
- Page 22 Electrical Characteristics This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 23: Timing Diagrams
4.Timing Diagrams In This Chapter Quadrature Encoder Input SPI Timing Power On Timing Warm Reset Pulse & Direction For the values of Tn, please refer to the table in Section 3.2, “AC Characteristics” for more information Quadrature Encoder Input Figure 4-1: Quad Encoder... -
Page 24: Spi Timing
Timing Diagrams SPI Timing Figure 4-2: SPI Timing SPIClock ~SPIEnable SPIXmt data is valid data must SPIRcv be valid Power On Timing Figure 4-3: Vcc, AnalogVcc Power On Timing ~Reset I/O Pins Inputs (note 2) Juno Step Motor Control IC User Guide... -
Page 25: Warm Reset
Timing Diagrams Warm Reset Figure 4-4: Warm Reset Timing ~Reset I/O Pins Code Dependent Inputs (note) Please refer to Note 2 in Section 3.2.4, “Warm Reset” for more information. Pulse & Direction Figure 4-5: Pulse & Pulse Direction Timing Direction Juno Step Motor Control IC User Guide... - Page 26 Timing Diagrams This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 27: Pinouts And Pin Descriptions
5.Pinouts and Pin Descriptions In This Chapter Pinouts for the MC74113 Pinouts for the MC74113N Pinouts for the MC75113 Pinouts for the MC75113N MC74113, MC74113N, MC75113, MC75113N IC Pin Descriptions Pinouts for the MC74113 Figure 5-1: 15, 16 29, 57 MC74113... -
Page 28: Pinouts For The Mc74113N
Pinouts and Pin Descriptions Pinouts for the MC74113N Figure 5-2: 13, 14 26, 50 MC74113N Pinouts AnalogVcc PWMHighA/PWMMagA PWMLowA/PWMSignA SrlXmt PWMHighB SrlRcv PWMLowB Pulse/SPIClock PWMHighC/PWMMagC SPIXmt PWMLowC/PWMSignC Direction/SPIRcv PWMHighD ~SPIEnable PWMLowD ~HostInterrupt ~Reset CurrentA AmplifierEnable CurrentB ~Brake CurrentC ~Enable CurrentD QuadA BusVoltage QuadB... -
Page 29: Pinouts For The Mc75113
Pinouts and Pin Descriptions Pinouts for the MC75113 Figure 5-3: 15, 16 29, 57 MC75113 Pinouts AnalogVcc PWMHighA/PWMMagA SrlXmt SrlRcv PWMLowA/PWMSignA Pulse/SPIClock PWMHighB PWMLowB SPIXmt Direction/SPIRcv PWMHighC/PWMMagC ~SPIEnable PWMLowC/PWMSignC PWMHighD ~HostInterrupt CurrentA PWMLowD CurrentB ~Reset AmplifierEnable CurrentC CurrentD ~Brake BusVoltage ~Enable AtRest BusCurrentSupply... -
Page 30: Pinouts For The Mc75113N
Pinouts and Pin Descriptions Pinouts for the MC75113N Figure 5-4: 13, 14 26, 50 MC75113N Pinouts AnalogVcc SrlXmt PWMHighA/PWMMagA PWMLowA/PWMSignA SrlRcv PWMHighB Pulse/SPIClock SPIXmt PWMLowB PWMHighC/PWMMagC Direction/SPIRcv PWMLowC/PWMSignC ~SPIEnable ~HostInterrupt PWMHighD PWMLowD CurrentA ~Reset CurrentB CurrentC AmplifierEnable ~Brake CurrentD ~Enable BusVoltage BusCurrentSupply AtRest... -
Page 31: Mc74113, Mc74113N, Mc75113, Mc75113N Ic Pin Descriptions
Pinouts and Pin Descriptions MC74113, MC74113N, MC75113, MC75113N IC Pin Descriptions The following table details the pinouts for the MC74113, MC74113N, MC75113, and MC75113N ICs. 64-Pin 56-Pin TQFP VQFN Name Pin # Pin # Direction Description This pin is the master reset input. It may be temporarily ˜Reset in/out brought low to reset Juno to its initial conditions and then... - Page 32 Pinouts and Pin Descriptions 64-Pin 56-Pin TQFP VQFN Name Pin # Pin # Direction Description These pins input the A and B quadrature signals along with the QuadA Index signal for an incremental encoder. By default a valid QuadB index pulse is recognized when ˜Index transitions low, Index however the interpretation of this signal can be programmed.
- Page 33 Pinouts and Pin Descriptions 64-Pin 56-Pin TQFP VQFN Name Pin # Pin # Direction Description These pins input analog voltages representing leg current flow CurrentA through the low sides of the switching bridges. These signals CurrentB are only accessible when the PWM output mode is set to CurrentC PWM High/Low.
- Page 34 Pinouts and Pin Descriptions 64-Pin 56-Pin TQFP VQFN Name Pin # Pin # Direction Description These pins must be left unconnected. No Connect Thermal pad on bottom of 56-pin VQFN IC package must be Thermal pad T. Pad connected to GND. For 64-pin TQFP package there is no thermal pad.
-
Page 35: Juno Ic Configuration In The Production Application
6.Juno IC Configuration in the Production Application In This Chapter Loading the NVRAM Analog Signal Calibration in the Production Application Each Juno IC, before undertaking step motor control, must be programmed with control parameter settings appropriate for the application that it will be used in. These control parameters include quantities such as PWM (Pulse Width Modulation) frequency, current gains, safety thresholds, and more. -
Page 36: Analog Signal Calibration In The Production Application
Juno IC Configuration in the Production Application 1x3 3-pin 2 mm header component on the other. A representative PCB mounted header component is Samtec MTMM-103-04-x-S-150. Figure 6-1: USB Programming Cable NVRAM Programming Via 3-pin UART MC74113 Programming MC74113N Cable MC75113 MC75113N SrlRcv Windows PC... - Page 37 Juno IC Configuration in the Production Application A third approach that has the benefit of eliminating the need for calibration at each power cycle is to execute the calibration on the assembled PCB using a 3-pin UART programming cable. The derived calibration offsets are stored into NVRAM and recalled automatically thereafter by Juno at each power-up.
- Page 38 Juno IC Configuration in the Production Application This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 39: Operational Overview
7.Operational Overview In This Chapter Internal Block Diagram Signal Connections Overview Control Flow Overview Control Applications Host Commands Internal Block Diagram Figure 7-1: Serial (point to point) FaultOut BusCurrentSupply BusVoltage Juno Step Motor Control HostInterrupt Temperature Enable Reset... -
Page 40: Signal Connections Overview
Operational Overview Juno’s waveform generator uses the command position, the status of the signal, and user-specified information AtRest such as the number of microsteps per full step and the desired motor current level to synthesize a waveform in each phase of the step motor. Current control using the phase-specific commands is then performed via direct input of analog signals representing the instantaneous current through the motor coils. -
Page 41: Control Flow Overview
Operational Overview Control Flow Overview Figure 7-3: Step Motor ICs AtRest Control Flow Overview Position SPI Direct Input Waveform Command Two-Phase Generation Pulse & Direction Current Loop Motor Output Step Motor Output Signals Profile Generator Current Feedback Quadrature Feedback (MC74113 Only) Figure 7-3 provides a control flow overview for the Juno step motor control ICs. -
Page 42: Step Motor Pulse & Direction Control Diagram
Operational Overview 7.4.1 Pulse & Direction Control of Step Motors Figure 7-4: Enable FaultOut Step Motor Pulse & Direction Step NVRAM Pulse H-Bridge Motor Control Direction Diagram MC74113, MC74113N, MC75113, MC75113N H-Bridge AtRest Current Feedback Encoder Feedback (MC74113 & MC74113N only) Applications: General purpose step motor drive, laboratory automation, liquid handling, scientific instruments, printers, XY stages. -
Page 43: Host Commands
Operational Overview 7.4.3 Serial Host Command Control of Step Motors Enable Figure 7-6: Serial Host Command Step Control of Step H-Bridge PC or Motor Motors Microprocessor MC74113, MC74113N, via Serial Host MC75113, MC75113N Commands H-Bridge Current Feedback Encoder Feedback (MC74113 &... -
Page 44: Sample Pro-Motion Script File
Operational Overview Host Command Parameter Mnemonic Range & Description Drive current SetCurrent Specified value has a range of 0 to 32,767 and determines the drive current, with 0 specifying a command of 0, and 32,767 specifying the highest available voltage or current command Encoder to microstep SetEncoderToStepRatio... - Page 45 Operational Overview Script file lines that begin with a colon ":" record PSF (PMD Structured Data Format) identifiers such as the version #, user-provided content description, creation date, and other information. Users may edit these lines directly but should only do so if they are familiar with PSF. Most users will not directly edit the script files and will instead rely on Pro-Motion to create the script file and store PSF configuration information.
- Page 46 Operational Overview This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 47: Microstep Waveform Generation
8.Microstep Waveform Generation In This Chapter Command Position Microsteps Per Full Step Drive and Holding Current Encoder Feedback Settable Parameters Signal Processing Phase A Phase B Figure 8-1: Microstepping 2-Phase Microstepping Waveforms 90° Juno step motor control ICs generate sinusoidal waveforms consisting of phase A and phase B outputs separated by 90 degrees. -
Page 48: Microsteps Per Full Step
Microstep Waveform Generation Whether via pulse & direction, SPI, or internal profile generation, to minimize the chance of spurious movement during startup, by default Juno disables position command input processing. This setting is controlled via the command source flag of the Operating Mode register and can be user programmed. See Section 8.5, Settable Parameters, for more information on how to set this flag. -
Page 49: Encoder Feedback
Microstep Waveform Generation Encoder Feedback The Juno MC74113 and MC74113N step motor control ICs support quadrature position encoder input. To provide encoder tracking Juno continually monitors the QuadA QuadB feedback signals and accumulates a 32-bit position value called the actual position. At power-up, the default actual position is zero. The full range of trackable positions is -2,147,483,647 to +2,147,483,647. -
Page 50: Settable Parameters
Microstep Waveform Generation Settable Parameters The table below provides a summary of the user-programmable parameters described in this chapter: Host Command Parameter Mnemonic Range & Description Set Operating Mode SetOperatingMode Specified value is a bit-oriented mask determining the state of register the command source, current loop, and motor output enable/ disable flags. -
Page 51: Pulse & Direction Processing Circuitry
Microstep Waveform Generation AtRest AtRest indicates that the axis is at rest and not actively moving. It is used to select between the 'in motion' pro- grammable step motor torque levels and the 'at rest' level. By default the Pulse signal is active low however this interpretation, along with that for the Direction AtRest... -
Page 52: Direct Input Spi Format
Microstep Waveform Generation Figure 8-3: Direct Input SPI Direct Input Command Word Command Data Word Format Previous Command Data Word (may contain 0s or 1s) Juno Response Word 15 14 13 12 11 10 9 The word returned by Juno is the previous command word received. It is recommended, but not required, that the external circuitry read this returned word and confirm that it matches the previously transmitted word. -
Page 53: Quadrature Encoder Processing Circuitry
Microstep Waveform Generation QuadA QuadB are expected to be offset from each other by 90 degrees. When the motor moves in the position direction, QuadA should lead QuadB . When the motor moves in the negative direction QuadB should lead QuadA . - Page 54 Microstep Waveform Generation This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 55: Current Loop
9.Current Loop In This Chapter Settable Parameters Signal Processing Figure 9-1: Current Loop Current Phase A & Phase B Error Control Flow To Motor From Microstep Command Output Waveform Diagram Module Generator Actual Current CurrentA-D .625 Figure 9-1 provides a summary of the control flow of Juno’s current loop control module when driving a step motor. -
Page 56: Settable Parameters
Current Loop Settable Parameters The table below summarizes the settable parameters for the Juno current loop. Host Command Parameter Mnemonic Range & Description Set Operating SetOperatingMode Specified value is a bit-oriented mask determining the Mode register state of the command source, current loop, and motor output enable/disable flags. -
Page 57: Typical Current Signal Processing Circuitry
Current Loop 9.2.1 Typical Current Signal Processing Circuitry Figure 9-2: Typical Current Signal Processing Circuitry Figure 9-2 shows a typical leg sensing processing circuit for the current signal inputs. Q1 and Q2 are the half-bridges for one motor phase, and R6 is the current sensing resistor. U1A with R1~R4 is a differential amplifier for signal conditioning;... - Page 58 Current Loop value is value = I * 1.25 * 32,767 / 10.0A and conversely, given a commanded numerical value the equivalent commanded current in amps is I = value * 10.0A * .80 / 32,767. 9.2.3 Current Signal Calibration To improve efficiency and motion smoothness it is important that the leg current inputs on signals represent CurrentA-D...
-
Page 59: Motor Output
10.Motor Output In This Chapter PWM High/Low Motor Output Mode Sign/Magnitude PWM Output Mode AmplifierEnable Brake The purpose of the motor output module is to generate precisely synchronized PWM (Pulse Width Modulation) signals for use by external switching amplifier circuitry. Juno ICs provide two different PWM motor output methods, PWM High/Low, and Sign/Magnitude PWM. -
Page 60: Pwm High/Low Encoding
Motor Output Figure 10-1: 0 / 1024 (100% negative PWM High/Low command) Encoding 1 / 1024 (large negative command) 512 / 1024 (zero command) 1023 / 1024 (large positive command) 1024 / 1024 (100% positive command) In PWM High/Low mode two output pins are used per motor or per motor phase, allowing separate high-side/low- side control of each bridge switch. -
Page 61: Two-Phase Step Motor Bridge Configuration
Motor Output 10.1.1 PWM High/Low Step Motor Drive Figure 10-3 shows the typical amplifier arrangement used with the PWM High/Low mode. Figure 10-3: PWMLowB Two-phase Pre-driver PWMHighB Step Motor PWMHighA Bridge Pre-driver PWMLowA Configuration Phase A CurrentA Analog Analog Conditioning Conditioning MC78113 CurrentB... - Page 62 Motor Output 10.1.3 Low Pass PWM Signal Filtering Some integrated amplifier ICs expect an analog command input. This can be accomplished by low pass filtering the PWM output signal thereby generating an analog signal. Depending on the input voltage required, additional analog processing circuitry may be needed.
-
Page 63: Sign/Magnitude Pwm Output Mode
Motor Output 64-Pin 56-Pin TQFP VQFN Signal Pin # Pin # Description PWMLowC Digital low side drive output for motor phase B, positive coil terminal PWMHighD Digital high side drive output for motor phase B, negative coil termi- PWMLowD Digital low side drive output for motor phase B, negative coil terminal There are a wide variety of switching amplifier components and designs that can be used with Juno’s PWM High/Low output mode. -
Page 64: Sign/Magnitude Pwm Step Motor Connections
Motor Output 10.2.1 Sign/Magnitude PWM Step Motor Drive Figure 10-5: Sign/ Magnitude PWM Step Motor PWMMagA H-Bridge Connections Logic & PWMSignA Pre-driver Phase A MC78113 MC74113 MC75113 PWMMagC H-Bridge Logic & PWMSignC Pre-driver Phase B Figure 10-5 shows a typical connection for a two-phase step motor when Sign/Magnitude PWM motor output mode is used. -
Page 65: Amplifierenable
Motor Output 10.2.3 Signal Processing As shown in the table below two PWM magnitude and two PWM sign signals are output to interface between the Juno IC and the amplifier circuitry: 64-Pin 56-Pin TQFP VQFN Signal Pin # Pin # Description PWMMagA Digital PWM magnitude output for the step motor’s phase A H-bridge... - Page 66 Motor Output If a brake or disable function occurs, to re-enable normal output the event that caused the discontinuation of function must be reset. For more information on Juno event processing see Section 12.3, “Event Action Processing”. The braking function is only available with the PWM control mode set to PWM High/Low. When the output mode is Sign/Magnitude PWM the signal can only control a disable function.
-
Page 67: Internal Profile Generation
11.Internal Profile Generation In This Chapter Juno Cycle Time Profile Parameter Scaling Profile Stop Events Settable Parameters Juno ICs include an internal profile generator that allows arbitrary contours of the step motor position command to be generated. -
Page 68: Juno Cycle Time
Internal Profile Generation 11.1 Juno Cycle Time Juno ICs calculate all profile generator on a fixed, regular interval known as the cycle time. For Juno step motor ICs the nominal cycle time value is 102.4 μSeconds, but this may vary by as much as +/- 1/2% over Juno’s temperature operating range. -
Page 69: Settable Parameters
Internal Profile Generation 11.4 Settable Parameters The table below summarizes the settable parameters for the Juno profile generator: Host Command Parameter Mnemonic Range & Description Velocity SetVelocity Specified value has a range of -2,147,483,648 to +2,147,483,647 and specified the profile target velocity. Acceleration SetAcceleration Specified value has a range of 0 to +2,147,483,647 and... - Page 70 Internal Profile Generation This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 71: Motion Monitoring & Control
12. Motion Monitoring & Control In This Chapter Status Registers FaultOut Signal Event Action Processing Host Interrupts Trace Settable Parameters 12.1 Status Registers There are five bit-oriented status registers that provide a continuous report on the state of Juno and the controlled axis. These five 16-bit registers are Event Status, Activity Status, Drive Status, Drive Fault Status, and Signal Status. - Page 72 Motion Monitoring & Control 12.1.2 Activity Status Register Activity Status register bits are not latched, they are continuously set and reset to indicate the status of the corresponding conditions. The Activity Status register is defined in the following table: Name Description Reserved May contain 0 or 1.
- Page 73 Motion Monitoring & Control 12.1.4 Drive Fault Status Register The following table indicates the contents of the Drive Fault Status register. Like the Event Activity Status Register these bits are latched. They are set by Juno and cleared by the user. Name Description Overcurrent...
-
Page 74: Faultout Signal
Motion Monitoring & Control The default value of the signal sense mask is “not inverted” except for the signal, which has a default value of Index “inverted.” The bits of the signal sense mask register are defined in the following table: Name Interpretation A encoder... - Page 75 Motion Monitoring & Control Condition Name Default Action Description Overcurrent Disable Motor Output Occurs when an overcurrent condition is detected. The programmed event action must be Disable Motor Output or Brake Overvoltage Disable Motor Output Occurs when an overvoltage condition is detected Undervoltage Disable Motor Output Occurs when an undervoltage condition is detected...
-
Page 76: Host Interrupts
Motion Monitoring & Control attempt to recover by deasserting, and then asserting, the signal. The signal must be in the deasserted Enable Enable state for at least 150 μSec for the request to be recognized. When an Enable-based recovery request is recognized Juno attempts to clear the Event Status register and the Drive Fault Status register, and will continue to do so until the conditions which caused the FaultOut to go active are no longer... -
Page 77: Settable Parameters
Motion Monitoring & Control 12.6 Settable Parameters Host Command Parameter Mnemonic Range & Description Signal sense mask SetSignalSense Specified value is a 16-bit mask with each '1' bit value indi- cating invert, and each '0' bit value indicating don't invert Fault out mask SetFaultOutMask Specified value is a 16-bit mask with each '1' bit value indi-... - Page 78 Motion Monitoring & Control This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 79: Drive & Dc Bus Safety
13.Drive & DC Bus Safety In This Chapter Drive & DC Bus Safety Current Foldback Settable Parameters Signal Processing 13.1 Drive & DC Bus Safety The Juno step motor ICs provide sophisticated drive and DC Bus safety features. These features include overtemperature monitoring, over and under voltage monitoring, overcurrent monitoring, and current foldback. -
Page 80: Overcurrent Monitoring Circuitry
Drive & DC Bus Safety The overtemperature detect functions continuously once programmed. To disable the overtemperature check a threshold value of 32,767 is set. 13.1.2 Overcurrent Monitoring Figure 13-3: Overcurrent BusVoltage Analog Conditioning Monitoring Circuitry BusCurrentSupply Analog Conditioning MC74113 MC74113N MC75113 Switching MC75113N... -
Page 81: Current Foldback
Drive & DC Bus Safety An isolating op-amp and sense resistor generate 3.3V at a DC bus supply current flow of 15 amps. The numerical scaling of the current threshold is therefore 15.0A/65,536 = .228 mA/count. The overcurrent threshold is set at 9.5 amps, or 9,500 mA/.228 mA/count = 41,667. -
Page 82: Current Foldback Processing Example
Drive & DC Bus Safety Figure 13-4: Continuous Integrated Current current limit energy limit Foldback exceeded exceeded Processing Example Commanded Amps Current Output Amps Current Integrated -sec Energy Time Setting continuous current limit and energy limit to less than the maximum available from the amplifier circuitry is useful if the required current limit is due to the motor, rather than to the drive electronics. -
Page 83: Settable Parameters
Drive & DC Bus Safety 13.3 Settable Parameters Host Command Parameter Mnemonic Range & Description Overtemperature SetDriveFaultParameter Two parameter command. The first must be 4, the sec- threshold ond has a range of -32,768 to 32,767 and specifies the thermistor sense (voltage increasing or decreasing) via the sign of the specified value and the threshold limit via the magnitude of the specified value. -
Page 84: Over-Temperature Processing Circuitry
Drive & DC Bus Safety 13.4.1 Typical Overtemperature Processing Circuitry Figure 13-5: Over- temperature Processing Circuitry Figure 13-5 shows a typical signal processing circuit for use with the Temperature input. The thermistor is a 10k NTC temperature-voltage-decreasing type. C1 is referenced to analog ground and should be placed close to the Temperature pin of the MC58113. - Page 85 Drive & DC Bus Safety Figure 13-6 shows a typical processing circuit for DC Bus voltage and BusCurrentSupply over current sensing. The bus current sensing includes R1, U1, U2A and related passive parts. U1 is a high-side bus current sensing IC, and its output on R7 represents the bus current.
- Page 86 Drive & DC Bus Safety This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 87: Power-Up, Configuration Storage & Nvram
14.Power-up, Configuration Storage & NVRAM In This Chapter Power-up NVRAM Initialization Control Settable Parameters Signal Processing 14.1 Power-up After receiving stable power at the Vcc pins Juno begins its initialization sequence. In a power-up where no user- provided configuration settings have been stored this takes approximately 250 mSec. -
Page 88: Settable Parameters
Power-up, Configuration Storage & NVRAM The execution conditions that can be used to control initialization are; delay a specified amount of time, compare against the Event Status register, compare against the Activity Status register, compare against the Drive Status register, or compare against the Signal Status register These conditions allow initialization command sequences such as “Rotate the motor after the Index... -
Page 89: Typical Reset Processing Circuitry
Power-up, Configuration Storage & NVRAM If configuration data has been stored in the NVRAM then the final power-up condition of various outputs signals may be affected. See the detailed description of the specific commands that are stored into the NVRAM for details. 14.5.2 Reset The Juno step motor control ICs require various conditions to be present on the Reset... - Page 90 Power-up, Configuration Storage & NVRAM This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 91: Application Notes - Mc74113 & Mc75113
15.Application Notes — MC74113 & MC75113 In This Chapter General Design Notes Design Tips Power Supplies Clock Generator, Grounding and Decoupling Reset Signal Drive-Related Safety and Monitoring Features PWM High/Low Motor Drive With Leg Current Sensing/Control ... -
Page 92: Design Tips
Application Notes — MC74113 & MC75113 15.2 Design Tips 15.2.1 Controlling PWM Output During Reset When the MC74113 or MC75113 are in a reset state (when the reset line is held low), or immediately after a power on, PWM output will be in a high impedance state, which will provide design flexibility to prevent undesirable motor movement at system level. - Page 93 Application Notes — MC74113 & MC75113 This page intentionally left blank. Juno Step Motor Control IC User Guide...
-
Page 94: Power Supplies
Application Notes — MC74113 & MC75113 15.3 Power Supplies In the schematic shown in Figure 15-1 the design is powered by an external +5VCC power source. The MC74113 and MC75113 require a 3.3V supply input. +3.3Vs, the 3.3V digital supply, is generated by the TPS76733QPWPRG4, a 1.0 Amp fixed 3.3V low-dropout voltage regulator. -
Page 95: Basics, Power Supplies, Mc74113 And Mc75113
Application Notes — MC74113 & MC75113 Figure 15-1: Basics, Power Supplies, MC74113 and MC75113 Juno Step Motor Control IC User Guide... -
Page 96: Clock Generator, Grounding And Decoupling
Application Notes — MC74113 & MC75113 15.4 Clock Generator, Grounding and Decoupling 15.4.1 Grounding and Decoupling As shown in Figure 15-2, each of the digital supply voltage pins should be connected to the +3.3 Vcc. A minimum of 1.2μF capacitor should be used to decouple each Vcc pin. A 2.2μF ceramic capacitor is recommended. If the +3.3 Vcc source is noisy, additional ferrite bead can be placed in series with the decoupling cap to form a LC filtering network on the power pin. -
Page 97: Basics, Clock And Bypass Caps, Mc74113 And Mc75113
Application Notes — MC74113 & MC75113 Figure 15-2: Basics, Clock and Bypass Caps, MC74113 and MC75113 Juno Step Motor Control IC User Guide... -
Page 98: Reset Signal
Application Notes — MC74113 & MC75113 15.5 Reset Signal The MC74113 and MC75113 chips have a built-in power supervisory circuitry that generates an internal reset signal when a power-on or brown-out condition occurs. As such, no external circuitry is needed to generate a reset input pulse. -
Page 99: Drive-Related Safety And Monitoring Features
Application Notes — MC74113 & MC75113 15.6 Drive-Related Safety and Monitoring Features This example shows the motor drive-related analog monitoring features. Please refer to Section 15.7, “PWM High/ Low Motor Drive With Leg Current Sensing/Control” for leg current sensing functions. The block of R9, R10, R13 and C5 is for temperature sensing. -
Page 100: Drive Safety And Monitoring
Application Notes — MC74113 & MC75113 Figure 15-3: Drive Safety and Monitoring Juno Step Motor Control IC User Guide... -
Page 101: Pwm High/Low Motor Drive With Leg Current Sensing/Control
Application Notes — MC74113 & MC75113 15.7 PWM High/Low Motor Drive With Leg Current Sensing/Control This section presents several design examples PWM high/low motor drive with leg current sensing. The examples focus on different priorities including power rating, cost, and noise immunity. 15.7.1 Leg Current Sensing Figure 15-4 shows an example for leg current sensing. - Page 102 Application Notes — MC74113 & MC75113 . However, the current will only flow through the resistor when Q2 is on; that is, if the duty cycle is known for this leg, the power dissipation can be approximated as I ) and resistor can be sized accordingly. Q2ON The board layout is critical for an optimal current sensing signal.
-
Page 103: Leg Current Sensing
Application Notes — MC74113 & MC75113 Figure 15-4: Leg Current Sensing Juno Step Motor Control IC User Guide... - Page 104 Application Notes — MC74113 & MC75113 15.7.2 Step Motor Drive with 2A Current Rating This example shows a step motor drive with leg current sensing. The power train has four half-bridges for the step motor’s four winding terminals. The input voltage in this example can be up to 48V. It is capable of driving 2A continuous current with peak current up to 3A.
-
Page 105: Step Motor Drive With 2A Continuous Current Rating
Application Notes — MC74113 & MC75113 Figure 15-5: Step Motor Drive with 2A Continuous Current Rating Juno Step Motor Control IC User Guide... - Page 106 Application Notes — MC74113 & MC75113 15.7.3 Step Motor Drive with 5A Current Rating This example shows a step motor drive with leg current sensing. The power train has four half-bridges for the step motor’s four winding terminals. The input voltage in this example can be up to 56V. It is capable of driving 5A continuous current with peak current of more than 10A.
-
Page 107: Step Motor Drive With 5A Continuous Current Rating
Application Notes — MC74113 & MC75113 Figure 15-6: Step Motor Drive with 5A Continuous Current Rating Juno Step Motor Control IC User Guide... - Page 108 Application Notes — MC74113 & MC75113 15.7.4 Step Motor Drive with 10A Current Rating This example shows a step motor drive with leg current sensing. The power train has four half-bridges for the step motor’s four winding terminals. The input voltage in this example can be up to 56V. It is capable of driving 10A continuous current with peak current of more than 20A.
- Page 109 Application Notes — MC74113 & MC75113 Figure 15-7: Step Motor Drive with 10A Continuous Current Rating Juno Step Motor Control IC User Guide...
- Page 110 Application Notes — MC74113 & MC75113 15.7.5 Step Motor Drive Using PWM Sign/ Magnitude Signal In the following schematic, the sign/magnitude output is used to drive a step motor. Dual H-bridge motor driver DRV8881E is used, which is capable of 2.5A peak current up to 45V. DRV8881E can be driven directly from a 3.3V CMOS logic output and as such can be directly interfaced to the MC74113 or MC75113 ICs.
- Page 111 Application Notes — MC74113 & MC75113 Figure 15-8: Step Motor Control with Sign/ Magnitude Signal Juno Step Motor Control IC User Guide...
-
Page 112: Interfacing Juno Ics With A Multi-Axis Magellan Ic
Application Notes — MC74113 & MC75113 15.8 Interfacing Juno ICs With A Multi- Axis Magellan IC The following schematic shows a two-axis application with two 56-pin VQFN packaged Juno Step motor ICs with a multi-axis Magellan. In this schematic the host controller is a four-axis Magellan MC58420. Only the connections with MC75113N and MC74113N are shown. - Page 113 Application Notes — MC74113 & MC75113 Figure 15-9: Two-Axis Step Motor Drive With Multi-Axis Magellan Juno Step Motor Control IC User Guide...
- Page 114 Application Notes — MC74113 & MC75113 This page intentionally left blank. MC58113 Electrical Specifications...