PMD MC73110 Manuel utilisateur

Performance Motion Devices, Inc.

80 Central Street

Boxborough, MA 01719

Revision 2.4, October 2008

MC73110

Advanced 3-Phase Motor Control IC

Product Manual

MC73110 Product Manual

ii MC73110 Product Manual

NOTICE

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 PMD.

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.

Magellan, ION, Magellan/ION, Pro-Motion, Pro-Motor, C-Motion, and VB-Motion are trademarks of Perfor-

mance Motion Devices, Inc.

MC73110 Product Manual iii

Warranty

PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with

PMD’s standard warranty. Testing and other quality control techniques are utilized to the extent PMD deems necessary

to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those

mandated by government requirements.

Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to discontinue any

product or service without notice, and advises customers to obtain the latest version of relevant information to verify,

before placing orders, that information being relied on is current and complete. All products are sold subject to the

terms and conditions of sale supplied at the time of order acknowledgement, including those pertaining to warranty,

patent infringement, and limitation of liability.

Safety Notice

Certain applications using semiconductor products may involve potential risks of death, personal injury, or severe

property or environmental damage. Products are not designed, authorized, or warranted to be suitable for use in life

support devices or systems or other critical applications. Inclusion of PMD products in such applications is under-

stood to be fully at the customer's risk.

In order to minimize risks associated with the customer’s applications, adequate design and operating safeguards must

be provided by the customer to minimize inherent procedural hazards.

Disclaimer

PMD assumes no liability for applications assistance or customer product design. PMD does not warrant or represent

that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other in-

tellectual property right of PMD covering or relating to any combination, machine, or process in which such products

or services might be or are used. PMD’s publication of information regarding any third party’s products or services

does not constitute PMD’s approval, warranty or endorsement thereof.

iv MC73110 Product Manual

Related Documents

MC73110 Advanced 3-Phase Motor Control IC Developer’s Kit Manual

This document guides you through installation and operation of the MC73110 Developer’s Kit.

It describes the developer’s kit card and software, and provides complete schematics for the card.

MC73110 Product Manual v

Table of Contents

Chapter 1. Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 2. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.1 Configurations, Parameters, and Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.2 Physical Characteristics and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 3. Electrical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.1 Absolute Maximum Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2 Recommended Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.3 AC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.4 Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.5 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.6 Phase Lock Loop (PLL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Chapter 4. Theory of Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.1 Functional Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.3 Connection Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.4 Control Loop Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.5 Motor Output and Signal Generation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.6 Current Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.7 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.8 Field Oriented Control (FOC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.9 Velocity Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.10 Velocity Integrator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

4.11 Profile Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4.12 Loop Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.13 Status Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.14 Programmable Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.15 Temperature Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.16 Bus Voltage Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.17 Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.18 Incremental Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.19 Serial EEPROM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.20 Synchronous Serial Input (SPI Port). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.21 Analog Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.22 GetLoop Commands and Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Chapter 5. Instruction Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5.1 How to Use This Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

vi MC73110 Product Manual

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MC73110 Product Manual vii

List of Figures

2-1 MC73110 physical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

3-1 MC73110 Clock timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

3-2 MC73110 Quad encoder timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

3-3 MC73110 Reset timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

3-4 MC73110 SPI timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

3-5 MC73110 chip pin layout and descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

3-6 PLL circuitry design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

4-1 MC73110 internal block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

4-2 With an external motion controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

4-3 As a complete intelligent motion controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

4-4 Control loop flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

4-5 Configuration for a torque-mode amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

4-6 Configuration for a velocity-mode amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

4-7 Intelligent motion controller configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

4-8 PWM waveforms and currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

4-9 Six-signal mode with dead time delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

4-10 Motor current sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

4-11 Sinusoidal commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

4-12 Motor command phasing vs. Hall sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

4-13 FOC current control flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

4-14 Velocity feedback and scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

4-15 Velocity integrator source select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

4-16 Typical velocity profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

4-17 Typical data frame format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

4-18 QuadA, QuadB, and Index signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

4-19 The current loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

4-20 The velocity loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

4-21 The velocity integrator loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65

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MC73110 Product Manual 9

1.Product Overview

The MC73110 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent three-phase brushless

DC motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of

feedback signals. It can be operated in voltage, torque, or velocity modes. The MC73110 also supports standalone

operation for use with PMD’s motion processors, other off-the-shelf servo controllers, or via a serial port.

Navigator/Pilot-family Motion Processors provide programmable chip-based positioning control for DC brush,

brushless DC, microstepping, and pulse & direction motors. They are available in 1-, 2-, and 4-axis configurations, and

in both single-chip and dual-IC chipset configurations.

Magellan Motion Processors are state-of-the-art programmable chip-based positioning controllers for DC brush,

brushless DC, microstepping, and pulse & direction motors. They are similar to the Navigator Motion Processors, but

provide increased capabilities including faster loop rate, CANBus communications, software-selectable motor type,

and direct SPI bus output for serial DACs. They are available in 1-, 2-, 3-, and 4-axis configurations, and in both single-

chip and dual-IC chipset configurations.

Magellan PCI and PC/104-bus motion cards are high performance general purpose motion cards for controlling

DC brush, brushless DC, microstepping, and pulse & direction motors. Utilizing PMD’s Magellan Motion Processors,

these products are available in 1-, 2-, 3-, and 4-axis configurations and have advanced features such as 16-bit D/A

analog output, and on-board high-speed performance tracing.

MC73110

Motor

Control IC

Navigator/

Pilot Magellan

Motion

Cards

ION

Digital Drive

Number of axes 1 1, 2, 4 1, 2, 3, 4 1, 2, 3, 4 1

Package 64-pin TQFP 132-pin PQFP

100-pin PQFP

144-pin LQFP

100-pin LQFP

PCI

PC/104

Fully enclosed module

Voltage 3.3V 5V 3.3V 3V 12–56V

Function Velocity control

Torque control

Commutation

Encoder input

Position control

Encoder input

Profile generation

Commutation

Position control

Encoder input

Profile generation

Commutation

Network

communications

Multi-motor

Position control

Encoder input

Profile generation

Commutation

Signal conditioning

Analog output

Trace buffer

Position control

Profile generation

Commutaion

Network

communications

Field oriented control

Torque/current control

Trace buffer

MOSFET amplifier

Motor types Brushless DC DC brush

Brushless DC

Microstepping

Pulse & direction

DC brush

Brushless DC

Microstepping

Pulse & direction

DC brush

Brushless DC

Microstepping

Pulse & direction

DC brush

Brushless DC

Microstepping

Communication

Standalone

Serial

Parallel

Serial point-to-

point

Serial multi-drop

Parallel

Serial point-to-

point

Serial multi-drop

CANbus

PCI, PC104 CANbus

RS232/485

Loop rate 20 kHz 100–150 µSec/

axis

50–75 µSec/axis 50–75 µSec/axis 20kHz

Product Overview

10 MC73110 Product Manual

ION Digital Drives are compact, fully enclosed modules that provide high performance motion control, network

connectivity, and power amplification for DC brush, brushless DC or step motors. Using advanced MOSFETs and

surface mount technology, ION drives provide very high power density in a rugged, flexible form factor. They

perform profile generation, servo compensation, stall detection, field oriented control, digital torque control and many

other motion control functions. These single-axis drives are based on the Magellan Motion Processor and provide

CANbus or serial communications.

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