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Operation

52

Atlas

®

 Digital Amplifier Complete Technical Reference

4

4.5.4.1

Reading Third Leg Floating Loop Values

To facilitate tuning there are a number of third leg floating loop values that can be read back as well as traced. To read 
back these values the command 

GetFOCValue

 is used. See 

Section 4.11.1.3, “Trace Variables”

 to specify these values 

for trace.

Refer to the diagram in 

Section 4.5.4, “Third Leg Floating Control”

 for an overview of the control loop. The variables 

that can be read or traced are summarized as follows:

4.5.4.2

Third Leg Floating in Voltage Mode

If Atlas is operated in third leg floating mode with the current loop disabled then the external controller-provided 
torque command is used to specify PWM duty cycle (voltage) to two out of the three motor output terminals, one 
positive and one negative. The third terminal is put into a high impedance (floating) state. Which terminal is positive, 
negative, or floating depends on the controller-provided phase angle.

4.6

Power Stage

Atlas contains a high performance MOSFET-based power stage that utilizes one or more switching bridges to drive 
the motor coils. The use of 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 
while maximizing the current loop performance. The fundamental frequency of the ripple current is twice the PWM 
frequency, and well out of the audible range in all cases.

The PWM frequency is selectable between 20 kHz, 40kHz, 80kHz, and 120kHz to cover a broad range of motor 
inductances. 

In addition to the output bridge function, Atlas provides a current measurement function for use by the current loop 
module as well as by the safety processing module. Two channels of phase current feedback are provided for brushless 
DC and step motor current loops. For DC Brush motors feedback for one phase is provided.

To set the Atlas unit’s PWM rate the command 

SetPWMFrequency

 is used. To read this value, the command 

GetPWMFrequency

 is used.

Variable Name

Function

q Reference

Is the commanded value input into the q loop.

q Feedback

Is the measured value of the q component of the current

q Error

Is the difference between the measured q component of the 
current and the commanded q component.

q Integrator sum

Is the integrator sum for the q loop.

q Output

Is the output command of the q loop

q Actual Current

Is the measured current for the q current

Содержание Atlas Compact

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

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

Страница 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...

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

Страница 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...

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

Страница 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...

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

Страница 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...

Страница 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...

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

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

Страница 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...

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

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

Страница 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...

Страница 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...

Страница 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...

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

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