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PMD Atlas Compact, Complete Technical Reference

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39

4

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



Trace Capture



Power-up



Non-Volatile (NVRAM) Storage



Writing and Reading NVRAM Data



SPI Communications Overview

4.1

Functional Overview

Figure 4-1:
High Level 
System 

Diagram

Atlas Digital Amplifiers are single-axis devices for torque or voltage-mode control of three-phase brushless DC motors, 
DC Brush motors, or two-phase step motors. They accept a stream of desired torque or voltage values from an external 
controller and perform all current loop processing and switching bridge control to continuously drive the motor coils 
to the specified, commanded values.

Atlas

® 

Digital Amplifier Complete Technical Reference

Enable

FaultOut

Optional Encoder Feedback

Atlas

®

Digital

Amplifier

Brushless DC

DC Brush

Step Motor

External

Controller

SPI

Command 

Protocol

NVRAM

Summary of Contents for Atlas Compact

Page 1: ...Performance Motion Devices Inc 1 Technology Park Drive Westford MA 01886 Atlas Digital Amplifier Complete Technical Reference Revision 2 0 February 2017...

Page 2: ...ole or in part without the express written permission of Performance Motion Devices Inc The information contained in this document is subject to change without notice No part of this document may be r...

Page 3: ...n a life support system an aircraft control system and a motor vehicle control system would all be considered Unauthorized Applications and use of a PMD product in such a system would not be warranted...

Page 4: ...ontrol IC features and functions with detailed theory of operations Magellan Motion Control Developer s Kit User s Manuals How to install configure and operate the DK58000 series DK55000 series and MC...

Page 5: ...uts 27 3 8 Signal Interfacing 32 3 9 Connection Overview 33 3 10 Heat Sink Grounding 36 3 11 Atlas Conversion Factors 36 4 Operation 39 4 1 Functional Overview 39 4 2 Internal Block Diagram 40 4 3 Not...

Page 6: ...t 164 B Application Notes 167 B 1 Brushless DC Atlas with Single Axis MC58113 Motion Control IC 167 B 2 DC Brush Step Motor Atlas with Multi Axis Magellan 170 B 3 Step Motor Atlas Operating In Pulse D...

Page 7: ...ush Connections 34 3 10 Step Motor Pulse and Direction Mode Connections 35 3 11 Step Motor SPI Communication Connections 36 4 1 High Level System Diagram 39 4 2 Internal Block Diagram 40 4 3 Commutati...

Page 8: ...rs 163 A 7 Mounting Atlas to L bracket Plates four axis vertical version shown 165 A 8 Top and Front Views of Four Axis Horizontal Atlas DK L bracket Vertical Plate 166 A 9 Top and Front Views of One...

Page 9: ...natively they can be used with dedicated FPGAs digital signal processors or general purpose microprocessors Communication to from Atlas amplifiers is via SPI Serial Peripheral Interface using a simple...

Page 10: ...tlas Amplifier Brushless DC MD231048 02VB Low 75W 12 48V Ultra compact Vertical Brushless DC MD231048 02HB Low 75W 12 48V Ultra compact Horizontal Brushless DC MD231048 05VB Medium 250W 12 48V Ultra c...

Page 11: ...gh level path generation and servo loop closure and outputs continuous desired torque commands or desired position increments for step motors to the Atlas Amplifier via the SPI Serial Peripheral Inter...

Page 12: ...general purpose valve actuator control where a precisely controllable current is needed In this application the torque command may be sent continuously by the host microprocessor or from time to time...

Page 13: ...nt overvoltage undervoltage overtemperature and SPI command watchdog timeout protection Single DC supply operation Enable input and FaultOut output safety interlock signals SPI Serial Peripheral Inter...

Page 14: ...ter card is provided that allows the ultra compact Atlas to be plugged into the compact carrier card socket directly The L bracket provides a stable mechanical base from which you can conveniently con...

Page 15: ...urrent loop modes individual phase field oriented control third leg floating Safety functions over current detect programmable over temperature detect programmable overvoltage detect programmable unde...

Page 16: ...mplifier Complete Technical Reference 2 2 2 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 Fig...

Page 17: ...stics Atlas Digital Amplifier Complete Technical Reference 17 2 2 2 3 Vertical Unit Compact Package Figure 2 3 Vertical Unit Compact Package 2 2 4 Horizontal Unit Compact Package Figure 2 4 Horizontal...

Page 18: ...occurs via the electrical solder connections Most applications however will utilize the Atlas unit s integral screw tab mounts to rigidly connect the Atlas to the PCB to a heat sink or to some other...

Page 19: ...r Complete Technical Reference SCREWS M2 0 or M2 5 HEX NUT M2 0 or M2 5 STANDOFF STANDOFF HEAT SINK HEAT SINK SCREWS M2 0 or M2 5 HEX NUT M2 0 or M2 5 STANDOFF STANDOFF Vertical Unit Mechanical Mount...

Page 20: ...cal contact to the printed circuit board PCB connection by soldering to the Atlas is generally recommended This is particularly true for Atlas units that are not mated to a supporting plate When the A...

Page 21: ...the Atlas to the supporting plate before soldering the Atlas into the PCB If for whatever reason this is not possible then special care should be taken to insure that the Atlas is precisely aligned wi...

Page 22: ...tire thermal transfer material substrate and to ensure that the Atlas unit is not damaged via mechanical overstress the user should carefully apply equal torque increments to each tab screw never exce...

Page 23: ...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 high...

Page 24: ...e Contact your PMD representative for additional information on Atlas extended temperature operation including higher temperature drive ratings 3 2 Absolute Maximum Ratings Specifications DC Brush Mot...

Page 25: ...tion Degree 2 Specification Standard CE LVD EN60204 1 EMC D EN61000 6 1 EN61000 6 3 EN55011 Electrical safety Designed to UL508C UL840 and EN60204 1 Hazardous materials RoHS compliant Flammability UL9...

Page 26: ...oing 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 1 0 V Min Max Conditions Output impedance with Logic 1 output 148 Kohm 152 Kohm IO...

Page 27: ...tailed pinouts for the two Atlas packages ultra compact and compact and the two mounting configuration horizontal and vertical All Atlas unit pins are 0 1 inch spacing and 0 025inch pin width Atlas Di...

Page 28: ...tor B 7 Motor D 8 NC No Connect 9 NC No Connect 10 NC No Connect 11 Enable 12 FaultOut 13 GND 14 5V 15 SPISO 16 SPICS AtRest 17 SPIClk Pulse 18 SPISI Direction The ultra compact Atlas vertical package...

Page 29: ...igure 3 5 Atlas Pinouts Compact Horizontal 11 5V 12 GND 13 FaultOut 14 Enable 15 GND 16 NC no connect 17 NC no connect 18 NC no connect Pin Name Pin Name 1 Pwr_Gnd 2 Pwr_Gnd 3 HV 4 HV 5 Motor A 6 Moto...

Page 30: ...DC DC Brush and Step Motors For the compact Atlas package two pins carry this signal so care should be taken to con nect both pins Motor B Motor output pin B Used with Brushless DC DC Brush and Step M...

Page 31: ...ommunications bus The default signal interpre tation is SPISI SPICS AtRest Input SPICS signal or AtRest signal SPICS enables SPI communication when transitioning low The SPI block is dis abled when SP...

Page 32: ...compatible Schmidt trigger thresholds It has a pull up to 5V to allow direct interfacing to open collector enable sources without external pull up resistor and a 1 3kHz R C low pass filter to reject n...

Page 33: ...level servo controller In this configuration the external controller can be either a microprocessor type device or a logic device such as an FPGA field programmable gate array Atlas functions as a po...

Page 34: ...n 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 to...

Page 35: ...DSP type device or a FPGA field programmable gate array The external controller provides a continuous stream of pulse and direction commands along with optionally an AtRest signal to control the torqu...

Page 36: ...o control the motor position 3 10 Heat Sink Grounding The heat sink may be left ungrounded or may be connected to chassis ground for best EMI protection The heat sink should not be connected to the At...

Page 37: ...ds to a temperature of 7 890 counts 0039 C count 30 8 C Foldback Energy 0059 A2 sec count 064 A2 sec count 256 A2 sec count To command a foldback energy of 50A2 sec to the high power Atlas a value of...

Page 38: ...High Limit 7 00 A High Limit 14 0 A Continuous Current Limit Step Default 2 12 A Default 6 36 A Default 12 7 A Motor Low Limit 0 0 A Low Limit 0 0 A Low Limit 0 0 A High Limit 2 12 A High Limit 6 36...

Page 39: ...Diagram Atlas Digital Amplifiers are single axis devices for torque or voltage mode control of three phase brushless DC motors DC Brush motors or two phase step motors They accept a stream of desired...

Page 40: ...y sent to Atlas continuously at the motion controller s servo rate For most systems this rate is in the 1 000 to 10 000 samples per second range However Atlas may also be used with direct voltage or t...

Page 41: ...r Processing this module implements step motor specific features including microstep signal generation holding current management and Pulse Direction and AtRest signal processing Memory Buffers this m...

Page 42: ...s are performed using the measured current through each winding to determine a final phase command See Section 4 5 Current Loop for details 4 4 1 Determining Phase Angle Atlas does not directly accept...

Page 43: ...information 4 4 2 Phasing with Hall Sensors As the previous section indicates to control a Brushless DC motor the external controller continuously provides phase information to Atlas Typically the ex...

Page 44: ...e at the encoder wraparound point This is the point at which the largest encoder value transitions to the smallest or vice versa depending on the motor direction At these points the phase angle must s...

Page 45: ...or coils are energized in a specific sequence and the resultant motor reactions are used to determine the initial phase angle Particularly for free wheeling motors such as spindles centrifuges fans an...

Page 46: ...e of control method will be used use the command SetCurrentControlMode To read the value set using this command use GetCurrentControlMode 4 5 1 Enabling and Disabling the Current Loop If during normal...

Page 47: ...wer stage s switching bridge To enable individual phase control the command SetCurrentControlMode is used The value set using this command can be read back using GetCurrentControlMode Three parameters...

Page 48: ...if the incoming torque command provided by the external controller is 25 full scale then for an Atlas that is operating with a bus voltage of 24V the average voltage presented at the motor coil will b...

Page 49: ...s them and re references them to what are known as d direct torque and q quadrature torque reference frames To enable field oriented control mode the command SetCurrentControlMode is used The value se...

Page 50: ...h the current loop disabled then after commutation Brushless DC motors or microstep signal generation step motors the phase specific commands are output directly to the power stage with no current loo...

Page 51: ...e motor phases are driven and the leg current is sensed third leg floating is similar to FOC however with only the q loop calculated For the q current loop three parameters are set by the user Kp Ki a...

Page 52: ...3 phase and H bridge topologies provides full 4 quadrant operation for all motor types In addition Atlas uses an advanced PWM switching scheme that minimizes the ripple current on the motor windings w...

Page 53: ...y be desirable to limit the maximum allowed output of the power stage PWM generator For example if the bus voltage is 36 volts and the desired voltage limit for a particular motor is 18 volts a PWM li...

Page 54: ...he Power Stage A previously disabled power stage module may be re enabled in a number of ways If output was disabled using the SetOperatingMode command then another SetOperatingMode command may be iss...

Page 55: ...is different than the Event Status register in that the contents are not latched but rather continuously set and reset by Atlas to indicate the status of the corresponding conditions The specific sta...

Page 56: ...ipping is occurring This occurs when the PWM limit value becomes the output of the current loop due to the fact that the desired output value of the current loop exceeds the PWM Limit value Cleared 0...

Page 57: ...does not occur again If the condition is resolved but Atlas is not power cycled the following sequence should be used to restore the drive to normal operation Clear the fault condition using the Clear...

Page 58: ...or example a value of 12 800 sets a threshold of 50 C The maximum allowed value of the hysteresis parameter is 50 C and the default value is 5 C An over temperature fault will cause the following even...

Page 59: ...ure settings An overvoltage fault will cause the following events to occur The current loop and power stage modules are disabled thereby halting further motor output The Drive Fault Status register re...

Page 60: ...ccessive valid SPI torque or voltage commands from the external controller If the amount of time between commands exceeds the programmed watchdog timer the watchdog fault is triggered To set the watch...

Page 61: ...to normal operation Clear the fault condition using the ClearDriveFaultStatus command Clear the drive exception bit of the Event Status word using the ResetEventStatus command It is not possible to r...

Page 62: ...t will be active The default value for the fault out mask is 0x71 indicating that FaultOut will go active whenever an overcurrent overvoltage undervoltage or watchdog timeout event occurs 4 8 9 Curren...

Page 63: ...ng the command GetDriveStatus If a foldback event has occurred this event is recorded in the Event Status register as well as the Drive Fault Status register and can be read back using GetEventStatus...

Page 64: ...priate bit in the Event Status register To recover from an event action the command RestoreOperatingMode is used This command will reset Atlas to the operating mode previously specified using SetOpera...

Page 65: ...800 microsteps per mechanical motor rotation or roughly 028 degrees of mechanical motion per incoming pulse Note that the control resolution may not equal the actual system accuracy To set the micros...

Page 66: ...and SetDriveCommandMode is used This command takes effect immediately so further SPI command processing is disabled and the external controller should begin sending pulse direction commands Note that...

Page 67: ...e in a production application this mode is most useful during development when the values for various Atlas parameters are still being optimized and full SPI communication is desired When placed in th...

Page 68: ...length have been defined data values may be written to and read from the buffer When defining memory buffers the memory space is treated as a sequence of 16 bit memory locations Atlas allows any value...

Page 69: ...base address as set by the SetBufferStart instruction to ensure that the buffer will not extend beyond the addressable memory limit GetBufferLength bufferID Returns the length of the specified buffer...

Page 70: ...define which parameters are stored The command SetTraceVariable selects which traceable parameter will be stored by the trace variable specified The values passed by this command specify the variable...

Page 71: ...reference for d direct loop 46 q Reference The FOC reference for q quadrature loop 41 d Error The FOC d direct loop error 47 q Error The FOC q quadrature loop error 42 d Feedback The d direct feedback...

Page 72: ...the SPI protocol format is used to command when the trace will occur In external trigger mode an explicit command must be sent to prepare Atlas for tracing This command resets various trace variables...

Page 73: ...etermine how many more data capture sets are available for retrieval Also useful during rolling trace mode is the Overrun bit of the Trace Capture register This bit indicates that Atlas has overwritte...

Page 74: ...eaning the data stored will be available even after power to the Atlas is removed Figure 4 12 shows the user memory space and the location of the NVRAM segment The power up initialization information...

Page 75: ...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 Users who want to address the NVRAM fr...

Page 76: ...g of the data stored in the segment This 8 bit field encodes the values 0 through 255 Users may assign segment type values 192 255 for segment types of their own design while all other values are rese...

Page 77: ...ands Segment Format 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 Comman...

Page 78: ...formation on how this segment ID mechanism is used within the PSF system The segment type value for the Parameter List segment type is 0x90 The overall format of this segment type is shown in Figure 4...

Page 79: ...a Encoding Length Type Description C N 0 0 The Assigned Value fields contain a UTF 16 uni code character string of a variable length set via the length field The type code for a UTF 16 encoded string...

Page 80: ...user defined segment be preceded with an ID segment that identifies the contents as detailed in Section 4 13 5 Parameter List Segment Type Doing so will assist in keeping track of what data was stored...

Page 81: ...0x0069 0x0074 0x0031 0x5643 0x5245 0x0003 0x0031 0x002E 0x0032 0x4544 0x4353 0x0004 0x0074 0x0065 0x0073 0x0074 0x4E46 0x0000 0x0008 0x0066 0x0069 Word PSF Start Sequence PSF User Sequence Parameter L...

Page 82: ...sum is returned check the Instruction error bit of the returned SPI Status register If an error is recorded the entire sequence described above must be repeated from step 2 If no error is recorded con...

Page 83: ...rds sent to it by Atlas These return words depending on the context contain transmission integrity information status bits or other useful information 4 15 1 Sending a Voltage or Torque Output Value F...

Page 84: ...Operation 84 Atlas Digital Amplifier Complete Technical Reference 4 This page intentionally left blank...

Page 85: ...as utilizes standard SPI signaling and timing control for the hardware interface and implements a higher level protocol on top of this See Section 3 6 AC Characteristics to learn more about low level...

Page 86: ...Name Description data 1 0 11 Header data 1 Holds various data the format of which depends on the state of the Torque data flag 12 Reserved This field is reserved and should be loaded with a 0 u 13 Upd...

Page 87: ...er checksum related fields This is a ones complement addition as follows The total indeed equals 0xFF indicating that Atlas correctly received the previous two header words Next we check the Atlas che...

Page 88: ...16 bit integer with units of 1 526 mA count For example a specified value of 6 553 represents a current command of 1 526mA 6 553 10 00 A Brushless DC Data1 Phase angle Contains a 12 bit unsigned integ...

Page 89: ...4 NOP Command Format There are times when it may be useful to send a header without providing a new torque command or disabling the drive This might be the case for example when the external controll...

Page 90: ...5 5 shows the overall format for commands that request an action or specify data to Atlas The associated data fields begin at the third word of the overall SPI packet and consist of a checksum byte a...

Page 91: ...ntains a signed 8 bit number containing the number of result words to follow If this number is negative an error has occurred and the instruction error bit of the Event Status register is set Subseque...

Page 92: ...arge number of axes to manage and a limited time slice to send information to each connected Atlas To lower the worst case timing burden of sending and retrieving results from commands Atlas allows th...

Page 93: ...monic used to represent the data value Encoding is the value assigned to the field for that instance For numeric arguments the parameter value the type signed or unsigned integer and the range of acce...

Page 94: ...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 detect...

Page 95: ...odes Atlas must be put in a special mode of operation in order to program NVRAM in this mode most Atlas commands are not supported and will return an error code of NVRAM Mode 26 In order to enter NVRA...

Page 96: ...begun by using the DriveNVRAM 3 N command where N is the number of words that will be written as a block N may be at most 32 No wait procedure is required after this command The values to write are pr...

Page 97: ...changed to the programmed static operating mode using the RestoreOperatingMode command The bit definitions of the operating mode are given below When the current loop is disabled it operates by passin...

Page 98: ...urned Data Type Range Scaling voltage unsigned 16 bits 0 to 216 1 1 3612 mv count Packet Structure Description GetBusVoltage gets the most recent bus voltage reading from the Atlas Restrictions see Ge...

Page 99: ...bits Packet Structure Description GetChecksum reads the Atlas internal 32 bit checksum value The return value is dependent on the silicon revision number of the motion processor Restrictions DC Brush...

Page 100: ...mmandedPosition returns the commanded position Commanded position is the instantaneous position value resulting from accumulated pulse and direction commands Restrictions The result is not meaningful...

Page 101: ...and format vary depending on the node as follows See Section 3 11 Atlas Conversion Factors for correct scaling for the Atlas unit you are using Restrictions This command is only supported when the cu...

Page 102: ...ing SPI processor for the watchdog period which is set using the SetDriveFaultParameter command Disabled means that an inactive Enable signal was seen Overcurrent means that an excessive bus or bridge...

Page 103: ...detected in other command processing are reported using the Instruction Error bit in the Event Status register and in the Instruction Error register All bits in the Drive Fault Status register are lat...

Page 104: ...0 9 8 7 6 5 4 3 2 1 0 Name Bit s Description 0 Reserved not used may be 0 or 1 In Foldback 1 Set to 1 when the unit is in the current foldback state the output current is limited by the foldback limit...

Page 105: ...he encoding of the data returned by this command Restrictions see GetDriveFaultStatus p 102 GetDriveStatus p 104 ResetEventStatus p 124 DC Brush Brushless DC Microstepping GetEventStatus checksum 31h...

Page 106: ...ed is signed 32 bits regardless of the node the range and format vary depending on the node as follows Brushless DC Microstepping GetFOCValue checksum 5Ah 15 8 7 0 First data word write 0 loop node 15...

Page 107: ...f the maximum output current The maximum current is the largest current that can be represented rather than the maximum that can be sourced or sensed The maximum current can be calculated via the form...

Page 108: ...s will be zero After powering up or receiving a reset command Atlas will set the instruction error bit and set the first error field in the instruction error register to Processor Reset 1 Any error oc...

Page 109: ...nstructionError cont A5h Description cont Restrictions see GetEventStatus p 105 ResetEventStatus p 124 Error Code Encoding Invalid torque command 18h Bad flash checksum 19h Command not valid in flash...

Page 110: ...1 unity revolutions microsteps Packet Structure Description GetPhaseAngle returns the instantaneous commutation or microstepping angle as set by the last torque command 0x10000 which is just out of r...

Page 111: ...ing example If a value of 4 489 is retrieved EE77h for a given phase then this corresponds to 4 489 100 32 767 13 7 of full scale output Restrictions Phase C is only valid when the motor type has been...

Page 112: ...ignal is low The Enable signal is an input and the FaultOut signal is an output See SetFaultOutMask p 140 for more on how the FaultOut signal is controlled The Signal Status register contains the valu...

Page 113: ...Range Scaling Units temperature signed 16 bits 2 15 to 2 15 1 28 C Packet Structure Description GetTemperature gets the most recent temperature reading from the Atlas internal temperature sensor Restr...

Page 114: ...bits 0 to 232 1 unity cycles Packet Structure Description GetTime returns the number of cycles which have occurred since the motion processor was last reset The time units are current loop cycles Rest...

Page 115: ...stored in the trace buffer since the beginning of the trace Restrictions If the trace mode is set to rolling and the buffer wraps GetTraceCount returns the total number of samples written since trace...

Page 116: ...e has filled the buffer when in rolling mode trace will then write at the beginning of the buffer and data may be lost Overrun 3 Set to 1 when a trace buffer location has been written before the previ...

Page 117: ...32bits Packet Structure Description GetTraceValue is used to read a single traceable value without having to set up the trace buffer trace mode and so forth The meaning of the variableID argument is...

Page 118: ...Microstepping GetVersion checksum 8Fh 15 8 7 0 First data word read product family motor type number of axes special chips 31 28 27 24 23 20 19 18 17 16 Second data word read customization code produc...

Page 119: ...commands in the Atlas non volatile memory typically to allow some other system component to initialize or stabilize itself The argument specifies the number of current loop cycles to delay Normal Atl...

Page 120: ...ion Motor Types Arguments None Returned data None Packet Structure Description The NoOperation command has no effect on the motion processor It may be useful for verifying or synchronizing communicati...

Page 121: ...ntents of the location pointed to by the read buffer index in the specified buffer After the contents have been read the read index is incremented by 1 If the result is equal to the buffer length set...

Page 122: ...Phase Counts 256 No Current Control Current Control Mode 1 Yes Current Loop Kp both A and B loops 0 Yes Current Loop Ki both A and B loops 0 Yes Current Loop Integration Limit both A and B loops 4000h...

Page 123: ...er Buffered Overvoltage Limit 38 207 52 V 38 207 52 V 44 085 60 V N Undervoltage Limit 7348 10 V 7348 10 V 7348 10 V N Overtemperature Limit 19 200 75 C 19 200 75 C 19 200 75 C N Temperature Hysteresi...

Page 124: ...the mask sent with this command All other Event Status register bits bits that have a mask value of 1 are unaffected Events that cause changes in operating mode or trajectory require in general that t...

Page 125: ...ll loops that were disabled as a result of events Restrictions Before using RestoreOperatingMode to return to the static operating mode the event status bits should all be cleared If a bit in event st...

Page 126: ...ed buffer Restrictions The buffer length plus the buffer start address cannot exceed the memory size of the product See Section 2 1 Operational Specifications for more information The memory indicated...

Page 127: ...current read index for the specified bufferID Restrictions If the read index is set to an address beyond the length of the buffer the command will not be executed and will return error code 7 buffer...

Page 128: ...th of the indicated NVRAM block or less Note The SetBufferStart command resets the buffers read and write indexes to 0 The GetBufferStart command returns the starting address for the specified bufferI...

Page 129: ...tion The Holding Current option is used to set the output level when the AtRest signal is asserted and the Drive Current option to set the output level when the AtRest signal is not asserted The GetCu...

Page 130: ...control GetCurrentControlMode gets the buffered current loop mode Restrictions SetCurrentControlMode is a buffered command It will not take effect until an update is done on the current loop by sortin...

Page 131: ...rom 0 to the factory default continuous current limit setting The maximum current is the largest current that can be represented rather than the maximum that can be sourced or sensed The maximum curre...

Page 132: ...is cleared SetEventAction can be used to configure a change in operating mode when current foldback occurs Doing this does not interfere with the basic operation of Current Foldback described above If...

Page 133: ...e with the parameter specific scaling shown below A setting of 64 for KpCurrent corresponds to a gain of 1 That is an error signal of 30 maximum current will cause the proportional contribution of the...

Page 134: ...dependently In most cases the A and B loops will not require different operating parameters so SetCurrentLoop can be used with a phase of 2 which sets both the A and B loops in a single API command Fo...

Page 135: ...cal interface used for torque commands either the default Serial Peripheral Interface or Pulse and Direction See Section 4 9 1 Pulse Direction Signal Input Mode for more information on pulse and direc...

Page 136: ...limits are limits on bus voltage and use the same scaling as the GetBusVoltage command Whenever bus voltage is greater than the overvoltage limit an overvoltage drive fault will be signaled if bus vol...

Page 137: ...automatic recovery mode Atlas will internally clear the event and drive fault status registers and attempt to automatically re enable the commanded operating mode after a disabling event has occurred...

Page 138: ...on The SetDrivePWM command is used to set the PWMLimit register which limits the maximum PWM duty cycle and hence the effective output voltage The PWM limit is applied to each terminal individually wh...

Page 139: ...the events causes an action the event bit in the Event Status register must be cleared prior to returning to operation For changes in operating mode this means that the bit must be cleared prior to re...

Page 140: ...us register can cause FaultOut high as follows For example a mask setting of hexadecimal 2060h will configure the FaultOut pin to go high upon Overtemperature Fault or Bus Voltage Fault The FaultOut p...

Page 141: ...the current loop processing The value written read is always an unsigned 16 bit value with the parameter specific scaling shown below A setting of 64 for KpDQ corresponds to a gain of 1 That is an err...

Page 142: ...units of time for the integral sum are cycles The loop argument allows individual configuration of the parameters for the D and Q current loops Alternately a loop of 2 can be used with SetFOC to set t...

Page 143: ...r type should only be set once for each axis either via NVRAM initialization during device startup or immediately after reset using SetMotorType Once it has been set it should not be changed Executing...

Page 144: ...at would disable motor output is present and will not change any internal registers The Invalid Operating Mode Restore error 10h error will be signaled An alternative event recovery mode automatic rec...

Page 145: ...r user programmable events In this case the present operating mode is available using GetActiveOperatingMode GetOperatingMode will always return the static operating mode set using SetOperatingMode Ex...

Page 146: ...this command represents the number of microsteps per electrical cycle 4 times the desired number of microsteps For example to set 64 microsteps per full step the SetPhaseCounts 256 command should be...

Page 147: ...WMFrequency Value column as the frequency argument to this command If the frequency specified is not supported the argument will be sampled down Restrictions The PWM frequency can be changed only when...

Page 148: ...in the rolling mode values stored at the beginning of the trace buffer are lost if they are not read before being overwritten by the wrapped data The Trigger bit controls the timing of trace samples I...

Page 149: ...s For example if the trace period is set to one trace data will be captured at the end of every chip cycle If the trace period is set to two trace data will be captured at the end of every second chip...

Page 150: ...tracing will begin after an SPI command header is received with the trace bit set GetTraceStart returns the value of the trace start trigger Once a trace is started the trace start trigger is reset to...

Page 151: ...as the command is processed If the SPI Command condition is specified tracing will stop after an SPI command header is received with the trace bit clear GetTraceStop returns the value of the trace sto...

Page 152: ...and 17 Phase B Command 18 Phase C Command 19 Phase Angle Scaled 29 Current Loops Phase A Reference 66 Phase B Reference 67 Phase A Error 30 Phase B Error 35 Phase A Actual Current 31 Phase B Actual Cu...

Page 153: ...ecified variableNumber Example To set up a three variable trace capturing the motor command phase angle and phase A current the following commands would be used SetTraceVariable 0 7 SetTraceVariable 1...

Page 154: ...ructure Description The 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 up...

Page 155: ...Reference Information L Bracket A 1 Overview Figure A 1 Developer Kit Components four axis version shown To simplify development with Atlas Amplifiers a developer s kit DK is available In addition to...

Page 156: ...still find these instructions useful however you will use the detailed connections detailed in Section A 3 Atlas Carrier Card Reference Information to connect your system and begin operation A 2 1 SP...

Page 157: ...tlas to operate There are a few options to accomplish this depending on how you plan to operate your system A simple approach is to use a short piece of AWG 20 or larger wire to connect the GND connec...

Page 158: ...now use Pro Motion s Axis Wizard to install and operate your motors or perform direct manual operations using Pro Motion s various control menus Congratulations You have successfully installed the At...

Page 159: ...J2 J5 J8 or J11 Connector Carrier Card Label Name Description Mtr D Motor D D Motor connection Mtr C Motor C C Motor connection Mtr B Motor B B Motor connection Mtr A Motor A A Motor connection GND M...

Page 160: ...Here are the pinouts for J13 when used in pulse direction signal mode J13 Connector Pin Name Description 1 SPICS3 SPI chip select for Atlas 3 2 SPICS2 SPI chip select for Atlas 2 3 Shield Cable shiel...

Page 161: ...rtical Unit Connections Figure A 4 Vertical Unit Pinouts J14 J15 J16 J17 Connectors Refer to Figure A 3 for connector locations Pin Name Pin Name 1 Pwr_Gnd 2 Pwr_Gnd 3 HV 4 HV 5 Motor A 6 Motor A 7 Mo...

Page 162: ...J14B J15B J16B J17B Connectors Pin Name Pin Name 1 Motor D 2 Motor D 3 Motor C 4 Motor C 5 Motor B 6 Motor B 7 Motor A 8 Motor A 9 HV 10 HV 11 Pwr_Gnd 12 Pwr_Gnd 13 5V 14 GND 15 Enable 16 FaultOut 17...

Page 163: ...d one for Vertical units These devices convert signals from the DK card s compact package format to the ultra compact format These converters may also be used in other products designed for the compac...

Page 164: ...base plate and vertical plate in the L configuration L bracket hardware is provided in the one axis configuration and four axis configuration Normally the Atlas units and carrier cards are fully asse...

Page 165: ...Atlas units to the vertical plate For ultra compact units M2 0 screws are used This is shown in Figure A 7 For best thermal performance a material such as Sil Pad thermal grease or phase change mater...

Page 166: ...uld be utilized between metal interfacing layers To connect to the vertical plate use four 4 M4 screws threaded into the provided threaded holes in the vertical plate or use four 4 M3 screws with nuts...

Page 167: ...e input capacitance V is the DC bus voltage and deltaV is the allowed voltage increase For some regulated power sources the regenerated energy may interfere with the power source s operation If that i...

Page 168: ...out reference B 1 3 Atlas Enable and FaultOut Signals Atlas has one dedicated input signal Enable which must be pulled low for the Atlas output stage to be active FaultOut is a dedicated output During...

Page 169: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 169 B Figure B 1 Brushless DC Atlas With Single Axis Magellan...

Page 170: ...an SPI slave Atlas SPI communication is enabled when SPICS is pulled down Only one Atlas can be enabled at any given time Please refer to B 1 for layout recommendation on SPI interface B 2 3 Atlas Ena...

Page 171: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 171 B Figure B 2 DC Brush Step Motor Atlas With Multi Axis Magellan...

Page 172: ...e Direction Interface When in pulse direction signal mode Atlas receives pulse direction and AtRest signals as shown in the schematic When operated in pulse direction signal mode SPI communications ar...

Page 173: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 173 B Figure B 3 Step Motor Atlas Operating In Pulse Direction Mode...

Page 174: ...r input and motor outputs B 4 2 Atlas SPI Interface Atlas functions as an SPI slave receiving control commands from the PIC through its SPI interface Atlas SPI communication is enabled when SPICS is p...

Page 175: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 175 B Figure B 4 DC Brush Atlas With PIC Microcontroller...

Page 176: ...utputs B 5 2 Atlas SPI Interface Atlas functions as an SPI slave receiving control commands from the ARM through its SPI interface Atlas SPI communication is enabled when SPICS is pulled down Please r...

Page 177: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 177 B Figure B 5 Step Motor Atlas With ARM Microcontroller...

Page 178: ...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...

Page 179: ...and Pwr_Gnd It serves as the bank capacitor for Atlas operation when necessary L1 is between Atlas HV and power supply positive output L2 is between Atlas Pwr_Gnd and power supply ground return The c...

Page 180: ...Application Notes 180 Atlas Digital Amplifier Complete Technical Reference B Figure B 6 Atlas Interfacing Via A Daughter Card 1...

Page 181: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 181 B Figure B 7 Atlas Interfacing Via A Daughter Card 2...

Page 182: ...Motion Control IC for layout and wiring recommendations on power input and motor outputs B 7 2 Atlas SPI Interface Atlas receives control commands through an SPI interface and functions as an SPI slav...

Page 183: ...Application Notes Atlas Digital Amplifier Complete Technical Reference 183 B Figure B 8 Multi motor Atlas With MC58113 Motion Control IC...

Page 184: ...Application Notes 184 B This page intentionally left blank...

Page 185: ...connections 161 motor 157 current control step motors 67 current foldback 62 event processing 64 voltage mode 63 current loop 45 disabling 46 enabling 46 reading values 48 D DC brush step motor Atlas...

Page 186: ...ining 42 phase control individual 47 voltage mode 48 with step motors 48 phase initialization incremental encoders 45 phasing Hall sensors 43 phasing with Encoder 44 physical characteristics 16 pin de...

Page 187: ...72 step motor control 64 step motors pulse direction signal mode 35 SPI communications 36 T third leg floating control 51 loop values reading 52 voltage mode 52 trace buffer 70 capture 69 data format...

Page 188: ...188 This page intentionally left blank...

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