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AN4241 dSPIN family fully integrated stepper motor drivers.pdf

AN4241 dSPIN family fully integ…

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简介:本文档为《AN4241 dSPIN family fully integrated stepper motor driverspdf》,可适用于电子通讯领域,主题内容包含JanuaryDocIDRevANApplicationnotedSPINfamily:fullyintegratedsteppermotordri符等。

JanuaryDocIDRevANApplicationnotedSPINfamily:fullyintegratedsteppermotordriversByEnricoPoliIntroductionTheLandLarefullyintegratedmotordriversprovidingacompletestandalonesolutionforthehighendsteppermotorapplicationsThedevicescanbecontrolledbyahostmicrocontrollerthroughafastSPIinterfaceandareabletoexecuteacompletesetofmotioncommandsThisdocumentdescribeshowthedevicescanbeconfiguredandgivessomesuggestionsabouttheoperationandtheapplicationdesignThecurrentcontrolalgorithmofthedevices(theLvoltagemodedrivingandtheLadvancedcurrentcontrol)isnotinvestigatedinthisdocumentForfurtherdetails,please,refertotherespectiveapplicationnotesAN"Voltagemodecontroloperationandparameteroptimization"andAN"Peakcurrentcontrolwithautomaticdecayadjustmentandpredictivecurrentcontrol:basicsandsetup"wwwstcomContentsANDocIDRevContentsTheLandLcommunicationinterfaceCommunicationprotocolDaisychainVandVcommunicationinterfaceMotionengineSpeedtrackingcommandsPositioningcommandsChangethetargetpositionoftheontheflycommandStopcommandsInitializingpositionusingGoUntilandReleaseSWcommandsProtectionsOvertemperatureprotectionOvercurrentprotectionUndervoltageStalldetectionMainclocksourceLayoutsuggestionsRevisionhistoryANTheLandLcommunicationinterfaceDocIDRevTheLandLcommunicationinterfaceThedevice(alwaysslave)canbedrivenbyaMCU(alwaysmaster)sendingcommandsthroughanbitSPIinterfaceThebitshiftregisterofthedeviceiskeptenabledwhileCSinputisforcedlowDuringthistime,ateveryraisingedgeoftheserialclock(CK),theSDIinputisstoredintotheshiftregisterAtCKfallingedgestheSDOoutputisupdatedaccordingtothelastbitoftheshiftregisterWhentheCSinputisraised,thedevicecatchestheshiftregistercontentandinterpretsitsvalueasacommandoranargumentofthepreviouslyreceivedcommandAllthebytesaresentthroughtheSPIdatalinesstartingfromthemostsignificantbitCommunicationprotocolThecommunicationprotocolisbasedonsinglebytecommandsthatcanbefollowedbyacommandargumentuptobytelongwhichmustbetransmittedstartingfromthemostsignificantbytePartoftheinformationneededtoexecutethetargetoperationcouldbeembeddedintothecommandbyte,forexamplethetargetregisteraddressintheGetParamandSetParamcommands,andtheargumentprovidesextradataaswellasthetargetpositionoftheGoTocommandBydefaulttheresponsebyteofthedeviceish(hexadecimalformat)Somecommands,forexamplethoseusedtoreadthevalueofaregister,generatearesponsefromthedeviceuptobytelongwhichistransmittedduringthefollowingtransmissioncyclesstartingfromthemostsignificantbyteDaisychainThedeviceiscompatiblewiththedaisychainarchitectureallowingtheMCUtodrivemultipledeviceswithasingleSPIinterfaceThedaisychainarchitectureisobtainedasfollows:MasterserialclocklineisconnectedtotheCKinputofeachslavedeviceMasterslaveselectlineisconnectedtotheCSinputofeachslavedeviceMasterserialdataoutput(MOSI)isconnectedtotheSDIinputofthefirstslaveofthechainTheSDOoutputofeachslavedeviceisconnectedtotheSDIinputofthenextone,lastslaveexcludedMasterserialdatainput(MISO)isconnectedtotheSDOoutputofthelastslaveofthechain,TheconnectiondiagramoftheconfigurationisshowninFigureTheLandLcommunicationinterfaceANDocIDRevFigureDaisychainconnectiondiagramInthisconfiguration,thechainofslavesactsasasingleslavewithanSPIdeviceofNbyteEachcommunicationcycle,forexamplewhenthemasterneedstotransmitreceiveabytefromtoaslave,themastermustfillalltheshiftregistersoftheslavesbeforeraisingtheCSlineThedevicesareaddressedaccordingtothepositionofthebyteinthecommunicationcycle:thefirstbytetransmittedbythemasterisreceivedbythelastdeviceofthechainthesecondoneisreceivedbythelastbutoneslaveandsoondowntothelasttransmittedbytewhichisreceivedbythefirstslaveofthechainTheresponsebytesfromthedevicechainareaddressedtothesameway:thefirstbytereceivedbythemasterhasbeentransmittedbythelastdeviceofthechainthesecondonehasbeentransmittedbythelastbutoneslaveandsoondowntothelastreceivedbytewhichhasbeentransmittedbythefirstslaveofthechainIntheory,thenumberofslavesthatanMCUcandriveusingthedaisychainconfigurationisunlimitedinpracticethemaximumnumberofdevicesconnectedtothesameSPIdependsontheclockskewThenumberofslaveslimitsthecommunicationspeedalsobecauseeverytimeabytehastobetransmittedtoadevice,thewholeNslavechainhastobefilledtransmittingNextrabytesVandVcommunicationinterfaceThedevicecanbeconfiguredtooperatebothwithVandVstandardlogicasshowninFigureMCUSerialclockSlaveselectSerialdataoutSerialdatainDevice(stofthechain)toSDIofdevicetoSDIofdeviceXfromSDOofdeviceXfromSDOofdeviceNDeviceXDeviceXDeviceN(lastofthechain)CSCKSDISDOCSCKSDISDOCSCKSDISDOCSCKSDISDOAMvANTheLandLcommunicationinterfaceDocIDRevFigureLogicinterfacesupplyscenariosCDDPOLCDDCREGPOLCREGµFnFnFµFVREGVDDCDDPOLCDDCREGµFnFnFVREGVDDCDDPOLCDDCREGPOLCREGµFnFnFµFVREGVDDVVVCDDPOLCDDCREGµFnFnFVREGVDDVFullyselfsupplieddeviceCompliantwithVlogicSelfsupplieddeviceCompliantwithVlogicExternallysupplieddeviceCompliantwithVlogicExternallysupplieddeviceCompliantwithVlogicAMvMotionengineANDocIDRevMotionengineThedSPINfamilydevicesintegrateamotionengineprovidingafullsetofcommandsThemotionenginegeneratesthestepsequenceaccordingtotheprogrammedspeedprofileandtherequestedcommandThespeedprofilerepresentstheoperationboundaries,definedbytheacceleration,deceleration,maximumandminimumspeed,whichshouldberespectedtoensuretheproperfunctioningoftheapplicationThedevicesallowalltheparameterstobesetindependently:AccelerationanddecelerationvaluesrangefromuptostepssThedevicecanalsobesettouseaninfiniteaccelerationanddecelerationvalueinthiscase,boththeaccelerationanddecelerationphasesaretotallyskippedMaximumspeedvaluerangesfromstepssuptostepsMinimumspeedvaluerangesfromuptostepssTheacceleration,decelerationandminimumspeedparameterscanbemodifiedwhenthemotorisstoppedonlyThemaximumspeedcanbealsochangedwhenthemotorisrunning,butthenewvalueisonlyconsideredatnextcommandexecutionThecommandssupportedbythemotionenginearelistedinTableTableCommandlistNameLength(bytes)DescriptionNotesMove(includingofarguments)PerformingthetargetnumberofmicrostepsasperrequesteddirectionCanbeexecutedwhenthemotorisstoppedonlyGoTo(includingofarguments)Reachingtheabsolutetargetposition(ABSPOSregister)usingtheshortestpathNotacceptedwhileanothercommandisunderexecutionGoToDIR(includingofarguments)Reachingtheabsolutetargetposition(ABSPOSregister)runningasperrequesteddirectionNotacceptedwhileanothercommandisunderexecutionGoHomeReachingthehomeposition(allzeroes)usingtheshortestpathNotacceptedwhileanothercommandisunderexecutionGoMarkReachingthepositionstoredintotheMARKregisterusingtheshortestpathNotacceptedwhileanothercommandisunderexecutionRun(includingofarguments)ReachingthetargetspeedintherequesteddirectionAlwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)StepClockSwitchingthedeviceinstepclockmodeimposingthedirectionCanbeexecutedwhenthemotorisstoppedonlyANMotionengineDocIDRevSpeedtrackingcommandsDuringthespeedtracking,thedevicedynamicallychangesthemotorspeedaccordingtotheapplicationrequirementsTheRuncommandcanbeusedtoachievethisresultTheRuncommandsetsthespeedtargetanddirectionwhichthemotorhastoreachBothspeedtargetanddirectioncanbechangedinrealtimethroughanewRuncommand(seeFigure)GoUntil(includingofarguments)ReachingthespeedtargetintherequesteddirectionandstoppingwhenSWinputisforcedlow(fallingedge)Alwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)ReleaseSWRunnigthemotoratlowspeedintherequesteddirectionandstoppingwhenSWinputisforcedhigh(risingedge)Alwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)SoftStopStoppingthemotorinaccordancetotheprogrammedspeedprofileAlwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)HardStopStoppingthemotorimmediately(infinitedeceleration)Alwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)SoftHiZStoppingthemotorinaccordancetotheprogrammedspeedprofileandthendisablingthepowerbridgesAlwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)HardHizDisablingthepowerbridgesimmediatelyAlwaysacceptedandimmediatelyexecuted(ifpresent,thepreviouscommandisaborted)TableCommandlist(continued)NameLength(bytes)DescriptionNotesMotionengineANDocIDRevFigureSpeedtrackingusingRuncommandsequencesPositioningcommandsThemotionengine,integratedintothedevices,allowsthepositionofthemotorinatargetpositionbasedonintegratedABSPOSregisterTheABSPOSregistertracesallthemotionperformedbythemotoraddingaunittoeachmicrostepcompletedinforwarddirectionandsubtractingaunitwhenthemicrostepisperformedinreversedirectionThetargetpositioningcanbedirectlyimposedindicatingtheABSPOSregistervalue(absoluteposition)orthedistancebetweenthecurrentpositionandthetargetone(relativeposition)TherelativepositioningcommandisMoveThemotionengineexecutesthiscommandonlywhenthemotorisstoppedinordertoavoidunexpectedbehaviors(egthetargetofnumberofstepsisnotenoughtoallowthespeedprofilecompliance)FigureRelativepositioningcommandexampleSpeedTimeRun(forward,)Run(forward,)Run(forward,)Run(reverse,)AMvhhFFFFFhFFFFFhhhFFFFFhFFFFFhStartingpositionStartingpositionFinalpositionMove(Reverse)Move(Forward)FinalpositionAMvANMotionengineDocIDRevTheabsolutepositioningcommandsareGoToandGoToDIRTheformermovesthemotortothepositiontargetchoosingtherotationdirectionaccordingtoaminimumpathalgorithm(iethelowernumberofmicrostepsisexecuted)whereasthelatterimposesthedirectiondirectlyFigureAbsolutepositioningcommandexampleIfaGoTocommandisrequestedwhenthemotorisrunning,theminimumpathalgorithmalsoconsidersthestepsrequiredtoreversethedirection(seeFigure)FigureMinimumpathalgorithmwhenmotorisrunningTheGoToandGoToDIRcanonlybeexecutedwhennoothercommandsareunderexecutionChangethetargetpositionoftheontheflycommandIfaRuncommandissenttothedeviceduringtheexecutionofaGoTocommand,itabortsthepreviouscommandThiseffectcanbeusedtochangethetargetpositionofthemotionengineontheflyhhFFFFFhFFFFFhhhFFFFFhFFFFFhStartingpositionStartingpositionTargetpositionTargetpositionGoToGoToDIR(Forward)AMvh>thenforwarddirectionisusedhFFFFFhFFFFFhCurrentpositionZerospeedposition(wherethemotorwillstopifitstartsdecelerating)TargetpositionMotorisrunninginforwarddirectionForwarddirectionpathForwarddirectionpathReversedirectionpathReversedirectionpathAMvMotionengineANDocIDRevFollowingthesuggestedsequenceofoperations:Readthecurrentmotorspeed(SPEEDregister)anddirection(DIRbitintheSTATUSregister)SendaRuncommandsettingthetargetspeedanddirectionequaltothevaluesobtainedatpointWaitfortheexecutioncommandmonitoringtheBUSYpinortheBUSYflagintheSTATUSregisterSendthenewpositioningcommandThisoperationcouldintroduceasmallerrorinthegenerationofthespeedprofileIfthetargetpositionischangedahighnumberoftimes(trackingposition)theerrorincreasesandanomalousbehaviorscouldoccurStopcommandsThemotorcanbestoppedthroughthestopcommandsThesecommandscanbesentatanytimeandtheyareexecutedimmediatelyTheSoftStopcommandstopsthemotorfittingthedecelerationvalueofthespeedprofilewhereasHardStopcommandstopsthemotorimmediately(infinitedeceleration)TheSoftHiZandHardHiZcommandsoperatesimilarly,butthepowerbridgesaredisabledassoonasthezerospeedisreached(thehighimpedancestatusisforced)InitializingpositionusingGoUntilandReleaseSWcommandsTheGoUntilandReleaseSWcommandscanbeusedtoinitializetheabsolutepositioninformationstoredintotheABSPOSregisteraccordingtoanexternalpositionsensorInthiswayarelationbetweenABSPOSvalueandmechanicalpositionofthemotorcanbeestablishedThepositioninitializationsequence,asshowninFigure,isthefollowing:Inpowerupstatus,theloadpositionisunknownUsingGoUntilcommandtheloadismovedtothelimitswitchathighspeedWhentheloadreachesthelimitswitchtheSWinputofthedeviceisforcedlowThemotordeceleratesandthenstopsConsideringthehighspeedusedtoapproachtheloadtothelimitswitch,asignificanterrorinthepositioningcouldhappenUsingReleaseSWcommandtheloadismovedawayfromthelimitswitchatlowspeedAssoonasthethresholdpositionofthelimitswitchiscrossedbytheloadtheSWinputofthedeviceisforcedhighThemotorstopsimmediatelyTheloadispositionedincorrespondencetothethresholdpositionofthelimitswitchwithahighprecisionANMotionengineDocIDRevFigureInitializationpositionusingGoUntilandReleaseSWcommandsLoadinunknownpositionPositionsensor(limitswitch)SteppermotordSPINfamilymotordriverGoUntilcommandisexecutedandtheloadreachesthelimitswitchSWSWReleaseSWcommandisexecutedandtheloadispositionedexactlyonthetriggeringpointofthelimitswitchSWAMvProtectionsANDocIDRevProtectionsThedSPINfamilydevicesprovideacompletesetofprotectionsdesignedtopreventfromdamagingthedeviceincriticalconditionsTheimplementedprotectionsare:Overtemperature(seeSection)Overcurrent(seeSection)Undervoltage(seeSection)OvertemperatureprotectionTheovertemperatureprotectiondisablesthepowerstageofthedevicewhenthetemperatureofthechipexceedsthesafeoperationconditionsWhentheovertemperatureprotectionistriggeredthedeviceislockedinasafecondition(allMOSFETsareturnedoff)andiskeptinthisconditionuntilthejunctiontemperaturedecreasesbelowC(typical)Thethermalshutdowneventoccurrenceissignaledthroughtherespectiveflag(THSD)intheSTATUSregisterwhichiskeptlowuntilitisreleasedbyaGetStatuscommand(moredetailsareavailableinthedatasheetofthedevice)AwarningthresholdisalsopresentallowingthehosttocontrolthedevicetopreventtheshutdownOvercurrentprotectionTheovercurrentprotectionmonitorsthecurrentinallpowerMOSFETsofthedeviceanddisablesthepowerstagewhentheprogrammedcurrentthresholdisreachedNoinformationaboutthespecificMOSFETorbridgecausingthefailureisavailableAssoonastheovercurrentprotectionistriggered,thedeviceislockedinasafecondition(allMOSFETsareturnedoff)andiskeptinthisconditionuntiltheOCDfailureflagisreleasedbyaGetStatuscommandWhenthedeviceislockedinsafestatenocommandenablingthebridgescanbeexecuted(egMove,Run,GoTo,HardStop,etc)Thecommandsaresimplyignored,nononperformablesignallingisreturnedbythedeviceWarning:TheovercurrentprotectioncanbedisabledsettingtheOCSDpinoftheCONFIGregistertozeroHoweveritisnotrecommendedthisprotectiontobedisabledUndervoltageTheundervoltageprotectionavoidsthepowerstageofthedevicetooperatewithasupplyvoltagebelowthesafeconditionsANProtectionsDocIDRevAtpowerup,thedeviceisinundervoltagestatus:thepowerbridgesofthedevicearekeptdisableduntilthesupplyvoltageisbelowtheturnonthresholdInthisconditionallthecommandsenablingthebridges(egMove,Run,GoTo,HardStop,etc)areignoredandtheUVLOfailureflagisforcedlowWhentheturnonthresholdisreachedthepowerbridgesareoperativeTheUVLOflagiskeptlowuntilitisreleasedthroughaGetStatuscommandThedevicereturnsinundervoltagestatusifthesupplyvoltagefallsbelowtheturnoffthresholdFigureUndervoltagepro

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