PG001M PARALLEL-TO-SERIAL DATA CONVERTER PG001M CMOS convert
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PG001M PARALLEL-TO-SERIAL DATA CONVERTER
PG001M
PARALLEL-TO-SERIAL DATA CONVERTER
PG001M CMOS converts parallel-data signals from lowcost, 8-bit microprocessor microcontroller into serial-data format compatible with SLA7042M SLA7044M power multi-chip modules drive unipolar PWM, high-current stepper motors. converter provides five basic modes operation: normal, two-phase, full step (100% torque vector), two-phase 'boosted' torque (141% torque vector), half-step, constant torque operation (using 2-1-2 output switching), quarter-stepping utilizing ratioed currents constant torque, microstepping (1/8th steps) quiet, smooth, resonance-free motor performance. PG001M supplied low-cost 16-pin dual in-line plastic package. rated continuous operation over temperature range -20°C +85°C.
Data Sheet 26112
RESET CLOCK CCW/CW USABLE USABLE MODE SELECT. MODE SELECT. GROUND
CONTROL SUPPLY VECTOR CONTROL CLOCK STROBE CONNECT. SERIAL DATA SERIAL DATA MONITOR
PARALLEL-TO-SERIAL
CONTROL LOGIC
CONVERTER
Dwg. PK-009
ABSOLUTE MAXIMUM RATINGS Supply Voltage, Input Voltage Range, -0.5 Input Current, Output Voltage Range, -0.5 Output Current, Operating Temperature Range, -20°C +85°C Storage Temperature Range, -40°C +150°C
CAUTION: CMOS devices have input static protection susceptible damage exposed extremely high static electrical charges.
FEATURES
Intended With SLA7042M SLA7044M Microstepping, Unipolar PWM, High-Current Motor Drivers Supports Five Stepper-Motor Operating Modes µP-Compatible Inputs
Always order complete part number, PG001M
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
FUNCTIONAL BLOCK DIAGRAM
CONTROL SUPPLY
MODE SELECT2
MODE SELECTOR
MODE SELECT
PARALLEL-TO-SERIAL
CONVERTER
LOGIC
VECTOR CONTROL MONITOR
SEQUENCING
PHASE
SERIAL DATA SERIAL DATAA (INTERNAL) CONNECTION STROBE CLOCK
USABLE
CCW/CW CLOCK
UP-DOWN COUNTER OSC.
RESET
GROUND
Dwg. FK-009A
TRUTH TABLE
PG001M Motor Excitation Full Step Inputs Half Step Step Step SLA7042/44M Output Sequence Current Motor Torque 141% 100% 100% 100% 100%
55.5% 71.4%
100%
Northeast Cutoff, 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 Copyright 1998, Allegro MicroSystems, Inc.
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
ELECTRICAL CHARACTERISTICS +25°C, (unless otherwise noted).
Characteristic Supply Voltage Output Voltage Input Current Input Voltage Symbol Vhys fosc td(CIH-COH) d(CIL-SL) tckH tckL
Test Conditions Operating
Internal Oscillator Freq. Delay Time Output Switching Time CLOCKIN Pulse Width Input Capacitance Supply Current
CLKIN CLKOUT rising edges CLKIN STROBE falling edges
Min.
Limits Typ. Max. -1.0
Units
CLOCK
RESET
PG001M Input Signals Timing
MODE SELECT CCW/CW
VECTOR CONTROL
Dwg. WK-005
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
PHASE
CLOCKOUT
STROBE SERIAL DATA FULL STEP 100% STEP 100% STEP STEP STEP 71.4% STEP 55.5% STEP STEP FULL STEP SERIAL DATA
55.5%
71.4%
100%
100%
FULL STEP
(141% TORQUE)
100%
100%
Dwg. WK-007
CLOCK, STROBE, SERIAL DATA Outputs Microstepping
Northeast Cutoff, 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
PG001M DESCRIPTION OPERATION
PG001M CMOS step-motor control that converts parallel-input signals from microprocessor (µP, microcontroller, serial-input data format required control SLA7042M SLA7044M microstepping, unipolar PWM, high-current motor driver. This control offers five basic modes motor operation: normal 2-phase, full-step (100% torque vector); 2-phase, full-step 'boosted' torque (141% vector); 1/2-step, constant torque operation (i.e., 2-1-2 switching); 1/4-step operation with current-ratioed constant torque; smooth microstepping operation (1/8th step) resonance-free motor performance (constant torque with eight output current ratios). Three inputs (VC, MS1, MS2) control these five operational modes shown figure this enables designers change drive method during movement realize optimal performance. Initially, start-up, high-torque mode provide 141% torque (the resulting vector both motor windings 100% current). This enhances rapid acceleration (and deceleration). Switching quarter-stepping microstepping (after initial, startup acceleration) offers smooth, resonance-free operation during ramp-up interval. transition quarter- microstepping should occur before increasing step rate approaches motor resonance frequency (usually Hz). modes operation current-control truth table listed page there full-step, 2-phase (2-2) operating modes. VECTOR CONTROL input (VC) only changed when MONITOR (MO, readback pin) PG001M operating full-step mode. Starting stopping) step motor with HIGH delivers highest torque (141%) from motor, extension outputs 71.4%. This 'half-step' rotor position corresponds state when LOW, switching control inputs another operating mode allowed. PG001M accepts logic signals from converts these into proper serial-data format required control serial-data input lines SLA7042M SLA7044M microstepping power modules. five
ONE-PHASE, FULL-STEP MODE
(WITHOUT PG001M)
TWO-PHASE, FULL-STEP MODE
(MS1
TWO-PHASE, FULL-STEP MODE MAXIMUM TORQUE (141%)
(MS1
1/2-STEP MODE CONSTANT TORQUE
(MS1
1/4-STEP MODE
1/8-STEP MODE
(MS1
(MS1
Dwg. OP-005-1
NOTE Mode change only allowed half-step positions (refer upper right figure).
Figure Current/Displacement Vectors control inputs determine various modes operation. CLOCKOUT, SERIAL DATAA, SERIAL DATAB STROBE SLA7042/44M synchronized CLOCKIN PG001M; CLOCKIN frequency eight times step rate (more follow signal/ timing relationships). internal logic oscillator combine convert parallel input signals 'bursts' serial data from
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
CLOCKOUT, SERIAL DATAA, SERIAL DATAB, STROBE. full-step modes clock, data, strobe pulses input clock rate; while half-step operation produces 'bursts' input clock rate. Further, quarter-step mode signals correspond input clock frequency; while during microstepping signal 'bursts' equal input clock rate. Hence, step rate always 1/8th input clock frequency, regardless operating mode. Obviously, clock rate increases while accelerating, becomes constant during slewing, decreases step motor load decelerating. Microstepping Operation Figures illustrate incremental eight step divisions provided while microstepping. 3-bit sequence from through provides smooth, constant-torque operation that delivered motor/load SLA7042M SLA7044M power multi-chip modules. circle figure figure represent constant-torque vectors. Slight discrepancies evident when examining vector 'arrows'. disparity insignificant, will affect smooth, resonance-free motion. However, affect realizing accurate precise intermediate positioning. Subdividing steps into
eight distinct, exact positions often very challenging. Clearly, variation phase currents affects rotor displacement, very crucial factor resolving accurate, intermediate step divisions. Another critical factor realizing precise, repeatable step subdivisions pertains selection evaluation step motor. better motors exhibit uniformly spaced positioning characteristics. However, torque displacement characteristics vary (often greatly). Usually, precise step subdivisions require motors designed microstepping. 'Integrated' Microstepping Design combination CMOS controller microstepping power module depicted figure provides needed logic signals that reset counter, control rotor direction, determine operating mode, change current/torque vector (during full-step, 2-phase operation). sequencing logic provides 'readback' signal (the output) that switches half-step position when microcontroller shift control modes incur oscillation/vibration problems. mode change allowed vector, half-step position shown figure addition vector, three other halfstep vectors occur during stepping: 135°, 225°, 315° (figure These current vectors correspond half-step positions four quadrants, four 2-phase, full steps rotation. Parallel-to-Serial Conversion Perhaps greatest system advantage designers simplification software. Controlling operating SLA7042/44M power multi-chip modules directly would require programming system provide update serial data both inputs, signals clock strobe inputs that control sections driver. Although designs utilizing CMOS control require seven lines, software program will simpler shorter. system provides logic signals that control RESET, CCW/CW (direction), MODE SELECT1, MODE SELECT2, VECTOR CONTROL, read MONITOR return. Only CLOCK input 'dynamic', constantly switching signal from system control I/O.
MAXIMUM FULL-STEP
TORQUE (141%)
71.4 CURRENT CENT
55.5
FULL STEP 55.5 71.4 CURRENT CENT
Dwg. GK-020
Figure Current/Displacement Vectors
Northeast Cutoff, 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
CONTROL SUPPLY CLOCK
CLOCK CCW/CW
REF/ENABLE
SLA7042M SLA7044M
MODE SELECT1
PG001M
STROBE
MODE SELECT2 RESET VECTOR CONTROL
SERIAL DATA SERIAL DATA
MONITOR
Dwg. EK-014A
Figure Typical 'Integrated' Microstepping System After RESET pulse, first (two) full-steps microstepping sequence, switched control shifts into 1/4-step mode. becomes very apparent that microstepping directly from SLA7042/44M module 'burdens' complicates software, might entail 'dedicated' microcontroller many motion-control systems. PG001M controller precludes loading with direct serial-data signals power multi-chip module. Because step motor updated eight times step rate, this CMOS both simplifies software eliminates loading system microprocessor with 'housekeeping' control step motors. illustrated figures controller eliminates requirement program system various modes operation continual updating serial-data signals power multi-chip module. NOTE figures clock frequency constant during steps operation that shown half-step operation included.
Depicted figure 'front-end' signals (from RESET VECTOR CONTROL), converted signals from controller microstepping power module (CLOCKOUT, SERIAL DATAA, SERIAL DATAB, STROBE), plus MONITOR (readback) microcontroller. Finally, power multi-chip module current ratios illustrated (OUTA OUTB). shown, initially counter reset, then motor operating quarter-step mode; then switched while LOW. steps following full-step (100% torque vector). final (fourth quadrant) portion figure maximum (141%) torque mode, after VECTOR CONTROL been switched from HIGH. Three five operational modes shown, none require continually update clock, serial-data input, strobe SLA7042/44M module. microstepping operation illustrated figure Initially counter reset, with both MODE SELECTs HIGH controller furnishing clock, serial data, strobe logic signals 1/8th step increments.
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
RESET
CLOCK
CCW/CW
MODE SELECT 1/4-STEP MODE FULL-STEP MODE MODE SELECT FULL-STEP MODE MAXIMUM TORQUE (141%)
VECTOR CONTROL
CLOCK
71.4 71.4 71.4 71.4
SERIAL DATA
71.4 71.4 71.4 71.4
SERIAL DATAB
STROBE
MONITOR
CENT
71.4
-71.4
-71.4
71.4
FIRST QUADRANT SECOND QUADRANT THIRD QUADRANT FOURTH QUADRANT FIRST QUADRANT
CENT
71.4
71.4
-71.4
-71.4
Dwg. WK-006
Figure Quarter-Step, Full-Step, High-Torque Full-Step
Because parallel-to-serial conversion requires 'static' logic signals plus 'dynamic' (clock) input, addition latches between five controller inputs permits bus. Latching five signals CCW/CW, MS1, RESET, frees these five lines other operations microcontroller. Even extremely high step rates kHz), updating PG001M input data requires infinitesimal percentage µP's control operations.
Northeast Cutoff, 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
RESET
CLOCK
CCW/CW
MODE SELECT1
1/8-STEP MODE 1/4-STEP MODE
MODE SELECT
VECTOR CONTROL
CLOCK
71.4 55.5 55.5 71.4 71.4 71.4 71.4
SERIAL DATA
71.4 71.4 55.5 55.5 71.4 71.4 71.4
SERIAL DATAB
STROBE
MONITOR
CENT
71.4
55.5
-55.5
-71.4
-100
-100
-100
-71.4
71.4
71.4
FIRST QUADRANT CENT
71.4
SECOND QUADRANT
71.4 55.5
THIRD QUADRANT
-55.5 -71.4 -100
FOURTH QUADRANT
-71.4
FIRST QUADRANT
71.4
Dwg. WK-006-1
Figure Microstepping (1/8th-Step) Quarter-Step Modes
technique free lines shared functions depicted figure lines required (without latches) then transformed into three 'dedicated' logic inputs; STROBE added, CLOCK MONITOR retained. CLOCK, RESET, MODE SELECT1, MODE SELECT2, VECTOR CONTROL connect bus.
clock input frequency limit derived from figure page minimum period clock pulse HIGH plus minimum interval this limits upper clock frequency kHz. Updating operating mode controller requires only clock period µs), five lines remain unchanged until signal required change operating mode, reverse direction, vary torque, etc.
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
CLOCK CCW/CW MODE SELECT1
CLOCK
LATCHES
MODE SELECT2 RESET VECTOR CONTROL
PG001M
STROBE
SERIAL DATA SERIAL DATA
STROBE MONITOR
Dwg. EK-014-1
Figure Latched Input-Bus Configuration
start-up, reseting counter adds only another clock interval (per figures During high-speed slewing, only occupied with sending clock signals monitoring readback (MO). Hence, interval, with slewing rate kHz, only required provide clock input. slower, more typical step rates, becomes insignificant burden controlling stepping motor. Other techniques decrease unburden essential lines control logic viable. Utilizing 8-bit shift register (serial-to-parallel conversion) between controller further reduces lines, HCMOS logic provides serial-data entry <200 kHz). Such design could further decrease interval required update step-motor operation reduce lines bus.
Northeast Cutoff, 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
Dimensions Inches
(controlling dimensions)
0.014 0.008
0.430 0.280 0.240
0.300
0.070 0.045
0.100 0.775 0.735
0.005
0.210
0.015
0.150 0.115 0.022 0.014
Dwg. MA-001-16A
Dimensions Millimeters
(for reference only)
0.355 0.204
10.92 7.11 6.10
7.62
1.77 1.15
2.54 19.68 18.67
0.13
5.33
0.39
3.81 2.93 0.558 0.356
Dwg. MA-001-16A
NOTES:1. Lead thickness measured seating plane below. Lead spacing tolerance non-cumulative. Exact body lead configuration vendor's option within limits shown.
PG001M PARALLEL-TO-SERIAL DATA CONVERTER
products described here manufactured Japan Sanken Electric Co., Ltd. sale Allegro MicroSystems, Inc. Sanken Electric Co., Ltd. Allegro MicroSystems, Inc. reserve right make, from time time, such departures from detail specifications required permit improvements design their products. information included herein believed accurate reliable. However, Sanken Electric Co., Ltd. Allegro MicroSystems, Inc. assume responsibility use; infringements patents other rights third parties which result from use.
Northeast Cutoff, 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
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