PMD Atlas Compact, Atlas Ultra Compact, Atlas Series Complete Technical Reference
Atlas® Digital Amplifier
Complete Technical Reference
Performance Motion Devices, Inc.
1 Technology Park Drive
Westford, MA 01886
Revision 2.0 February, 2017
NOTICE
This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is pro-
by federal copyright law. The contents of this document may not be disclosed to third parties, translated,
tected
copied, or duplicated in any form, in whole 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
reproduced or transmitted in any form, by any means, electronic or mechanical, for any purpose, without the
express written permission of PMD.
Copyright 1998–2017 by Performance Motion Devices, Inc.
Atlas, Magellan, ION, Magellan/ION, Juno, Pro-Motion, C-Motion and VB-Motion are registered trademarks of
Performance Motion Devices, Inc.
ii Atlas® Digital Amplifier Complete Technical Reference
Warranty
PMD warrants that its products shall substantially comply with the specifications applicable at the time of sale,
provided that this warranty does not extend to any use of any PMD product in an Unauthorized Application (as
defined below). Except as specifically provided in this paragraph, each PMD product is provided “as is” and without
warranty of any type, including without limitation implied warranties of merchantability and fitness for any particular
purpose.
PMD reserves the right to modify its products, and to discontinue any product or service, without notice and advises
customers to obtain the latest version of relevant information (including without limitation product specifications)
before placing orders to verify the performance capabilities of the products being purchased. All products are sold
subject to the terms and conditions of sale supplied at the time of order acknowledgment, including those pertaining
to warranty, patent infringement and limitation of liability.
Unauthorized Applications
PMD products are not designed, approved or warranted for use in any application where failure of the PMD product
could result in death, personal injury or significant property or environmental damage (each, an “Unauthorized
Application”). By way of example and not limitation, 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 or approved by PMD.
By using any PMD product in connection with an Unauthorized Application, the customer agrees to defend,
indemnify and hold harmless PMD, its officers, directors, employees and agents, from and against any and all claims,
losses, liabilities, damages, costs and expenses, including without limitation reasonable attorneys’ fees, (collectively,
“Damages”) arising out of or relating to such use, including without limitation any Damages arising out of the failure
of the PMD product to conform to specifications.
In order to minimize risks associated with the customer’s applications, adequate design and operating safeguards must
be provided by the customer to minimize inherent procedural hazards.
Disclaimer
PMD assumes no liability for applications assistance or customer product design. PMD does not warrant or represent
that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other
intellectual property right of PMD covering or relating to any combination, machine, or process in which such
products or services might be or are used. PMD’s publication of information regarding any third party’s products or
services does not constitute PMD’s approval, warranty or endorsement thereof.
Atlas® Digital Amplifier Complete Technical Reference
iii
Related Documents
Atlas® Digital Amplifier User’s
Description of the Atlas Digital Amplifier electrical and mechanical specifications along with a summary of
its operational features.
Magellan® Motion Control IC User’s Guide
Complete description of the Magellan Motion Control 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 MC58113 series Magellan
Motion Control IC Developer’s Kits.
Pro-Motion® User’s Guide
User’s guide to Pro-Motion, the easy-to-use motion system development tool and performance optimizer.
Pro-Motion is a sophisticated, easy-to-use program which allows all motion parameters to be set and/or
viewed, and allows all features to be exercised.
Manual
iv Atlas® Digital Amplifier Complete Technical Reference
Table of Contents
1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Atlas Digital Amplifier Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Features and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4 Atlas Developer’s Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. Functional Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Operational Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Mechanical Mounting Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3. Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1 Drive Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 Environmental Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Safety and Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.5 DC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.6 AC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.7 Pin Descriptions and Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Notes on Command Mnemonics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.4 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.5 Current Loop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.6 Power Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.7 Status Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.8 Safety Processing Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.9 Step Motor Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.10 User Memory Space & Buffers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.11 Trace Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.12 Power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.13 Non-Volatile (NVRAM) Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.14 Writing and Reading NVRAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.15 SPI Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5. SPI Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.1 SPI Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.2 Packet Header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5.3 Sending a Voltage or Torque Output Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.4 Sending an Amplifier Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.5 Sending a NOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.6 Sending Atlas Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
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6. Instruction Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
A. Atlas Developer’s Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
A.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
A.2 Installation and Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
A.3 Atlas Carrier Card Reference Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
A.4 L-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 & Direction Mode . . . . . . . . . . . . . . . . . . 172
B.4 DC Brush Atlas with PIC Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
B.5 Step Motor Atlas with ARM Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
B.6 Atlas Interfacing Via a Daughter Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
B.7 Multi-Motor Atlas with Single-Axis MC58113 Motion Control IC . . . . . . . . . 182
vi Atlas® Digital Amplifier Complete Technical Reference
List of Figures
1-1 Single Axis Magellan With Atlas Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1-2 Multi Axis Magellan With Atlas Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-3 Direct Host Microprocessor With Atlas Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-4 Direct Host Microprocessor With Atlas Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1-5 Atlas Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1-6 Developer Kit Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2-1 Vertical Unit - Ultra Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-2 Horizontal Unit - Ultra Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-3 Vertical Unit - Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2-4 Horizontal Unit - Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2-5 Horizontal & Vertical Unit Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2-6 Recommended Atlas Unit Thermal Transfer Material Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2-7 Atlas Torque Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3-1 Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3-2 Atlas Pinouts - Ultra Compact, Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3-3 Atlas Pinouts - Ultra Compact, Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3-4 Atlas Pinouts - Compact, Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3-5 Atlas Pinouts - Compact, Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3-6 Signal Interfacing ~Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-7 Signal Interfacing FaultOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-8 Brushless DC Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3-9 DC Brush 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 Commutation Control Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4-4 Phasing Reference Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4-5 Current Loop Control Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4-6 Individual Phase Control Calculation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4-7 Field Oriented Control Calculation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4-8 Third Leg Floating Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4-9 Power Stage Control Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4-10 Current Foldback Processing Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4-11 Pulse and Direction Signal Input Mode Control Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4-12 User Memory Space and Buffers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4-13 Example Motion Trace Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4-14 Trace Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4-15 High-Level Format of a PSF (PMD Structured Data Format) Memory Space . . . . . . . . . . . . . . . . . . . 75
4-16 PSF Data Segment Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4-17 Initialization Commands Segment Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4-18 Parameter List Segment Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4-19 Format of Parameter Assignment Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4-20 Example PSF Memory Space Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4-21 SPI Communications Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4-22 Sending a Voltage or Torque Output Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5-1 SPI Communications Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5-2 Sending a Voltage or Torque Output Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5-3 Amplifier Disable Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
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5-4 NOP Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5-5 Send Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5-6 Query Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
A-1 Developer Kit Components (four-axis version shown) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
A-2 Connecting DB9 Cable to Carrier Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
A-3 Component Placement of Vertical and Horizontal DK Carrier Cards (four-axis version shown) 158
A-4 Vertical Unit Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
A-5 Horizontal Unit Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
A-6 Vertical and Horizontal Compact to Ultra Compact Package Signal Converters . . . . . . . . . . . . . . 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-Axis Horizontal Atlas DK L-bracket Vertical Plate . . . . . . . . . . . . . . . . 166
B-1 Brushless DC Atlas With Single-Axis Magellan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
B-2 DC Brush & Step Motor Atlas With Multi-Axis Magellan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
B-3 Step Motor Atlas Operating In Pulse & Direction Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
B-4 DC Brush Atlas With PIC Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
B-5 Step Motor Atlas With ARM Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
B-6 Atlas Interfacing Via A Daughter Card #1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
B-7 Atlas Interfacing Via A Daughter Card #2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
B-8 Multi-motor Atlas With MC58113 Motion Control IC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
viii
Atlas® Digital Amplifier Complete Technical Reference
1.Introduction
In This Chapter
Atlas Digital Amplifier Overview
Typical Applications
Features and Functions
Atlas Developer’s Kits
1.1 Atlas Digital Amplifier Overview
Atlas Digital Amplifiers are single-axis amplifiers that provide high performance torque control of brushless DC, step
motor, and DC Brush motors. They accept digital torque commands from an external source and are used directly for
motor torque control applications, or in conjunction with higher level controllers for velocity or positioning applications.
Their very compact size and range of power output levels make them an ideal solution for single-card machine
controllers that require high performance in a small envelope.
Atlas digital amplifiers provide many advanced control features including user-programmable gain parameters,
performance trace, field oriented control, and I
voltage, and provide automatic protection from overcurrent, undervoltage, overvoltage, overtemperature, and short
circuit faults.
2
t current management. Atlas amplifiers are powered from a single supply
1
The Atlas digital amplifier family has been designed to work seamlessly with PMD’s Magellan family of motion control
ICs. Alternatively, 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, packet-oriented
protocol. For step motors, in addition to the SPI format a dedicated pulse & direction input mode is provided.
Atlas amplifiers are packaged in plastic and metal solderable modules and are available in an ultra compact package size
with a total footprint of 1.4 inch
come in three power levels; 75 watts, 250 watts, and 500+ watts and utilize standard through-hole pins for all electrical
connections.
Atlas amplifiers are provided in both vertical and horizontal mounting configurations and have integral attachment tabs
to allow for a variety of mechanical mounting and heat sink options. The following table shows the available
configurations of the Atlas Digital Amplifiers:
Power Level
P/N
Step Motor
MD241048/02VB Low (75W) 12-48V Ultra compact Vertical Step Motor
MD241048/02HB Low (75W) 12-48V Ultra compact Horizontal Step Motor
MD241048/05VB Medium (250W) 12-48V Ultra compact Vertical Step Motor
MD241048/05HB Medium (250W) 12-48V Ultra compact Horizontal Step Motor
MD141056/25VB High (500+W) 12-56V Compact Vertical Step Motor
MD141056/25HB High (500+W) 12-56V Compact Horizontal Step Motor
(continuous) Voltage Size
2
(9.0 cm2) and a compact package size with a footprint of 2.6 inch2 (16.8 cm2). They
Mounting
Style Motor Type
Atlas® Digital Amplifier Complete Technical Reference
9
Introduction
Brushless DC,
DC Brush, or
Step Motor
1
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 compact Vertical Brushless DC
MD231048/05HB Medium (250W) 12-48V Ultra compact Horizontal Brushless DC
MD131056/25VB High (500+W) 12-56V Compact Vertical Brushless DC
MD131056/25HB High (500+W) 12-56V Compact Horizontal Brushless DC
DC Brush
MD211048/02VB Low (75W) 12-48V Ultra compact Vertical DC Brush
MD211048/02HB Low (75W) 12-48V Ultra compact Horizontal DC Brush
MD211048/05VB Medium (250W) 12-48V Ultra compact Vertical DC Brush
MD211048/05HB Medium (250W) 12-48V Ultra compact Horizontal DC Brush
MD111056/25VB High (500+W) 12-56V Compact Vertical DC Brush
MD111056/25HB High (500+W) 12-56V Compact Horizontal DC Brush
Multi-Motor
MD281048/02VB Low (75W) 12-48V Ultra compact Vertical Multi-motor*
MD281048/02HB Low (75W) 12-48V Ultra compact Horizontal Multi-motor*
MD281048/05VB Medium (250W) 12-48V Ultra compact Vertical Multi-motor*
MD281048/05HB Medium (250W) 12-48V Ultra compact Horizontal Multi-motor*
MD181056/25VB High (500+W) 12-56V Compact Vertical Multi-motor*
MD181056/25HB High (500+W) 12-56V Compact Horizontal Multi-motor*
Figure 1-1:
Single Axis
Magellan With
Atlas Amplifier
*Multi-motor motor type
allows the Atlas to be configured by the user to drive either Step Motor, Brushless DC, or DC Brush motor type.
This manual provides a description of the electrical and mechanical specifications for the Atlas Digital Amplifiers,
along with a summary of its operational features. For complete documentation on all aspects of the Atlas Digital
Amplifier including a programmers command reference refer to Atlas® Digital Amplifier Complete Technical Reference.
For more information on the Magellan Motion Control IC consult the Magellan Motion Control IC User’s Guide.
1.2 Typical Applications
The following section provides overview diagrams of typical applications utilizing the Atlas amplifier products.
1.2.1 Single Axis Positioning Motion Controller
The diagram below shows a PMD MC58113 Motion Control IC sending torque commands to an Atlas Amplifier to
provide positioning control of a brushless DC, DC Brush, or Step Motor.
10 Atlas® Digital Amplifier Complete Technical Reference
Introduction
Brushless DC,
DC Brush, or
Step Motor
Brushless DC,
DC Brush, or
Step Motor
Brushless DC,
DC Brush, or
Step Motor
1.2.2 Multi Axis Positioning Motion Controller
The diagram below shows a PMD Magellan MC58000 series or MC55000 series multi-axis motion control IC being
used with two or more Atlas Amplifiers to provide control of brushless DC, DC Brush, or Step Motors in a
positioning application. If desired each axis can control a different motor type, so that, for example, brushless DC
motors can be used along with step motors in the same controller.
1
Figure 1-2:
Multi Axis
Magellan With
Atlas
Amplifiers
1.2.3 Microprocessor-Based Motion Controller
The diagram below shows the Atlas Amplifier being driven by a general purpose microprocessor that provides high
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 Interface).
1.2.4 Stand Alone Step Motor Amplifier
iagram below shows the Atlas Amplifier being directly driven by pulse & direction signals. These signals may
The d
come from a microprocessor, a control card, or any other existing motion control device that outputs pulse & direction
signals. In this mode the Atlas unit operates ‘stand-alone,’ and utilizes configuration control parameters previously
stored into the Atlas unit’s NVRAM (non-volatile) memory.
Figure 1-3:
Direct Host
Microprocessor
With Atlas
Amplifiers
Atlas® Digital Amplifier Complete Technical Reference
11
Introduction
Step Motor
1
Figure 1-4:
Direct Host
Microprocessor
With Atlas
Amplifiers
There are a few options for configuring Atlas units for stand alone operation:
• Pro-Motion can be used with the Atlas Developer’s Kit to program Atlas units
• The user can develop their own NVRAM programming system by utilizing the SPI (Serial Peripheral
Interface) Atlas command protocol. For more information refer to the Atlas® Digital Amplifier
Complete Technical Reference.
• PMD offers custom pre-configured Atlas units. For more information contact your local PMD sales
representative.
1.2.5 Force Control
The Brushless DC and DC Servo Atlas units can be used for general purpose force control applications such as remote
teleoperation, force feedback, solonoid actuation, and any other general purpose valve/actuator control where a
precisely controllable current is needed.
Figure 1-5:
Atlas Force
Control
In this application the torque command may be sent continuously by the host microprocessor or from time to time as
required by the application. In either case the Atlas provides very accurate current/torque control resulting in smooth
and precise application of force.
1.3 Features and Functions
The Atlas family of amplifiers provide an extensive list of functions, including:
• Available in Brushless DC, DC Brush, Step Motor, and multi-motor motor types
• High performance all-digital power amplifier
• Works with Magellan ICs, FPGAs or microprocessor-based controllers
• Digital SPI interface eliminates analog +/- 10V signals
• Available in 75W, 250W, and 500W+ power levels
• Rugged plastic solderable module format uses standard through-hole pins
• Total power output to 1Kilowatt
• Available in ultra compact 1.05" x 1.05" x .53" (27mm x 27mm x 13mm) size or compact 1.52" x 1.52"
x .60" (39mm x 39mm x 15mm) size
12 Atlas® Digital Amplifier Complete Technical Reference
• Horizontal and vertical mount configurations
• Includes rugged mechanical tab mounts
• Supply voltage range of 12V up to 56V
• High current output up to 14A continuous, 25A peak
• Digital current loop with choice of standard A/B or Field Oriented Control (FOC)
• Direct signal pulse and direction input
2
•I
t current foldback limiting
Introduction
1
• Overcurrent, overvoltage, undervoltage, overtemperature, and SPI command watchdog time
protection
Single DC supply operation.
•
• Enable input and FaultOut output safety interlock signals
• SPI (Serial Peripheral Interface) up to 8 MHz
• Performance trace of up to 1,020 words and four simultaneous variables
• 1,024 word non-volatile parameter storage
• Microstepping control with up to 256 microsteps per full step
• Signal conditioning buffers and analog filters on all I/O signals
• Fully RoHS compliant and CE marked
1.4 Atlas Developer’s Kit
To simplify development, an Atlas Developer’s Kit is available, shown in Figure 1-6.
out
Atlas® Digital Amplifier Complete Technical Reference 13
Introduction
1
Figure 1-6:
Developer Kit
Components
The following software and hardware components are included in every Atlas Developer’s Kit:
• Pro-Motion CD and User’s Guide
• C-Motion and VB-Motion SDK CD, including PDFs of all Atlas documentation
• Atlas DK DB9 communications cable
For the following components, you will provide information that will specify how you want the DK tailored for your
exact development needs:
• Specific Atlas units to be included (motor type, power level)
• Atlas carrier card (horizontal or vertical, 1 or 4 axis version)
The carrier cards are designed for direct use with the compact Atlas format. For each ultra compact Atlas ordered a
converter 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 connect and operate your prototype
system motors. With the vertical plate, the Atlas units have additional heat sinking, which can be extended further by
connecting the vertical plate to your own heat sink or cold plate.
Electrical connection to the Atlas DK carrier card is made by DB9 connector, and by jack screw connectors. Designers
who plan to use the Atlas in conjunction with PMD’s Magellan Motion Control ICs can connect the Atlas DK to the
Magellan DK card, purchased separately. For more information on this product see one of the available Magellan
Motion Control IC developer’s kit user’s manuals.
Refer to Appendix A, “
Atlas DK.
Atlas Developer’s Kit” for complete information on ordering, setting up and operating the
14 Atlas® Digital Amplifier Complete Technical Reference
2.Functional Characteristics
In This Chapter
Operational Specifications
Physical Dimensions
Mechanical Mounting Options
2.1 Operational Specifications
Operating Parameter Value
Motor types supported: Brushless DC, DC Servo, Step Motor
Communication format: SPI (Serial Peripheral Interface)
SPI clock frequency range: 2.0 MHz to 8.0 MHz
Torque command rate: up to 9.7 kHz
Current measurement resolution: 12 bits
Current loop type: P, I (proportional, integral) with Integral limit
Current loop resolution: 16 bits
Current loop rate: 19.530 kHz
Current loop modes: individual phase, field oriented control, third leg floating
Safety functions: over current detect, programmable over temperature
detect, programmable overvoltage detect, programmable
under voltage detect, programmable I
SPI command watchdog timeout
Output limiting:
Command modes: SPI voltage, SPI torque, pulse & direction signal
PWM rate: 20 kHz, 40 kHz, 80 kHz, or 120 kHz
PWM generation modes: sinusoidal, space vector modulation, standard single-phase
Pulse & direction rate: 1.0 M Pulses/sec
Microsteps per full step: up 256 per full step
Trace capture modes: one time, rolling-buffer
Trace trigger modes: internal clock, external by controller
Trace buffer size: 1,020 16-bit words
NVRAM storage size: 1,024 16-bit words
Programmable I2t energy, current, and voltage limit
2
t current foldback,
2
Atlas® Digital Amplifier Complete Technical Reference
15
Functional Characteristics
2
Figure 2-1:
Vertical Unit Ultra Compact
Package
2.2 Physical Dimensions
2.2.1 Vertical Unit, Ultra Compact Package
Figure 2-2:
Horizontal Unit
- Ultra Compact
Package
2.2.2 Horizontal Unit, Ultra Compact Package
16 Atlas® Digital Amplifier Complete Technical Reference
2.2.3 Vertical Unit, Compact Package
Functional Characteristics
Figure 2-3:
Vertical Unit Compact
Package
2
2.2.4 Horizontal Unit, Compact Package
Figure 2-4:
Horizontal Unit
- Co
mpac
Package
Atlas® Digital Amplifier Complete Technical Reference 17
t
Functional Characteristics
2
2.3 Mechanical Mounting Options
Atlas amplifiers are provided in two separate package sizes, ultra compact and compact, and in two separate mounting
configurations; vertical and horizontal. There are some very low power applications where the Atlas unit may be
mounted without mechanical attachment to the screw tabs. In such cases mechanical attachment to the PCB 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 mechanical support. As shown in Figure 2-5 there are a number of Atlas
mounting options available when using the Atlas screw tabs. The choice of the mounting hardware depends on the
demands of the application.
The following table provides information related to the mechanical screw tab mounts:
Maximum
Recommended
Atlas Package
Ultra Compact M2.0 4.2 mm 2.2 mm
Compact M2.5 5.4 mm 2.8 mm
screw type
screw head
diameter
Maximum
screw body
diameter
18 Atlas® Digital Amplifier Complete Technical Reference
Functional Characteristics
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 to Support/Cold Plate
SCREWS (M2.0 or M2.5)
SUPPORT/COLD
PLATE
SCREWS (M2.0 or M2.5)
Horizontal Unit, Mechanical Mount to Support/Cold Plate
Horizontal Unit, Mechanical Mount Through Heat Sink to PCB
THERMAL
TRANSFER
MATERIAL
THERMAL
TRANSFER
MATERIAL
THERMAL
TRANSFER
MATERIAL
THERMAL
TRANSFER
MATERIAL
SUPPORT/COLD
PLATE
BA
DC
Horizontal Unit, Mechanical Mount to PCB
Figure 2-5:
Horizontal &
Vertical Unit
Mounting
Options
2
2.3.1 Mounting Guidelines
Atlas amplifiers, while designed to be robust and easy to install, contain active electronics that can only function
reliably when the mechanical integrity and operating environment of the Atlas is maintained. The next three sections
Atlas® Digital Amplifier Complete Technical Reference
19
Functional Characteristics
2
provide important recommendations and guidelines for the configuration, selection, placement, mounting method,
and installation procedure for Atlas amplifiers.
Choice of vertical or horizontal Atlas. The horizontal configuration of Atlas is recommended for applications where the
Atlas is not mechanically mated to a supporting plate and where vibration or movement-related forces may be present.
When the Atlas unit is mechanically mated to a supporting plate, either the horizontal or the vertical configuration
may be used. Figure 2-5
Attaching Atlas to a supporting plate. Some Atlas applications will utilize a supporting plate for heat removal or for
enhanced mechanical stability. For Atlas installations that may be subject to vibration or movement-related forces and
that utilize a supporting plate, special care should be taken to insure that there is no movement between the circuit
card that the Atlas is soldered or socketed to and the supporting plate which the Atlas is mechanically attached to. Such
movement could result in damage to the Atlas unit, the circuit card, or the supporting plate.
Attaching Atlas to a free-standing heatsink. Some Atlas applications will utilize a free standing heat sink, such as is shown
in Figure 2-5
recommended for use with vertical Atlas units. When mounting Atlas units with free standing heat sinks special care
should be taken where vibration or movement-related forces may be present. These forces, acting on the additional
mass of the heat sink, may impart excessive mechanical stress on the Atlas resulting in damage to the Atlas unit, the
circuit card, or the heat sink. Depending on the nature and magnitude of the forces, in these applications mounting
the Atlas to a supporting plate may be preferred.
Choice of socket or solder connection to the circuit card. For best electrical 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 Atlas unit is mounted to a supporting plate either solder or socket electrical
connections may be used, with solder connections recommended for applications benefitting from rigid connection
of the Atlas to the PCB, and sockets being recommended when greater mechanical isolation of the PCB from the
mechanical support is desired.
C and Figure 2-5D show the Atlas unit mechanically mated to a supporting plate.
A and Figure 2-5B. Free standing heat sinks are recommended with horizontal Atlas units but are not
Some of the electrical ratings of the Atlas may not be achievable when electrical connection to the Atlas is via
sockets rather than via soldering. It is the responsibility of the user to determine whether a particular motor output current and voltage rating may be achieved with a given socket.
2.3.2 Thermal Transfer Materials
Thermal transfer materials in the form of thermal tape, pads, paste, or epoxy may be used to improve thermal transfer
between the Atlas’ metal plate and an attached heat sink or supporting plate. These materials improve thermal
conductivity by filling in air gaps that form when two metallic surfaces are mated.
Figure 2-5
surface. The following guidelines may be helpful in selecting and sizing the thermal transfer material best-suited to
your application.
The capacity of thermal transfer materials to transfer heat (known as the bulk conductivity) is much lower than that
of metals such as aluminum or copper. Therefore, in general, the thinner the transfer material the better. Thickness of
the material is only precisely controllable for thermal pads and thermal tapes, with thermal pads providing the thinnest
available interfaces beginning at 5 mils (.127 mm) or even less. For use with Atlas amplifiers thermal transfer materials
that are thicker than 40 mils (1.0 mm) are not recommended regardless of the material used.
When using thermal paste or thermal epoxy glue the thickness should be carefully controlled via a silk screen or other
wet film application process. The Atlas unit itself should not be used to squeeze non-uniformly applied paste or epoxy
flat during installation. Doing so may result in damage to the Atlas.
shows a typical application of a thermal transfer material between the Atlas and a heat-removing metal
20 Atlas® Digital Amplifier Complete Technical Reference
Functional Characteristics
1.40”
(35.6)
1.50”
(38.1)
1.00”
(25.4)
.95”
(24.1)
2
Whether using tape, pads, paste, or epoxy, as shown in Figure 2-6
, the thermal transfer material that is used as the
interface should not extend to the area under the Atlas’ tabs because this may reduce the amount of compression that
occurs in the thermal transfer area. The following table provides dimensions for the applied thermal transfer material
for the two available Atlas package sizes:
Maximum Pad
Atlas Package Size
Ultra Compact .1.00" x .95" (25.4 mm x 24.1mm)
Compact 1.40" x 1.50" (35.6 mm x 38.1
Dimensions
mm)
Figure 2-6:
Recommended
Atlas Unit
Thermal
Transfer
Material
Dimensions
2.3.3 Atlas Installation
There are a number of precautions and procedures that should be followed to maintain the electrical and mechanical
integrity of the Atlas unit during installation.
Soldering Atlas units in place. Applications that utilize Atlas units that are not mechanically mated to a heat sink or that
are mated to a self-standing heat sink may utilize a standard soldering process without special precautions or
procedures. Applications that involve Atlas units mated to a supporting plate and that will be soldered to the PCB
should take special care to insure that the solder joints are not stressed by the supporting plate once installed. The
recommended method to achieve this is to mechanically mate 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 with the supporting plate after soldering and before mechanical attachment so that upon
mechanical attachment no stress is placed on the Atlas unit, the solder contacts, or the PCB.
Mounting surface flat and clean. Thermal performance as well as safe operation of the Atlas requires that the surface that
the Atlas is mounted to be flat and clean, free of dust, grease, or foreign objects. The recommended maximum
deviation of the mating surface flatness is 3 mils (.076 mm).
Mechanical mounting limits. Applications that will utilize a mechanical attachment to the Atlas via the Atlas’s mounting
tabs should take special care not to overstress the mechanical tabs. Regardless of the attachment method, which is most
commonly screws but may also be clips or inserts, the linear force applied to each mechanical tab should not exceed
certain values as shown in the following table and the accompanying Figure 2-7
Maximum Direct Force
Atlas Package Size
Ultra Compact 25 pounds (111 N) M2.0 x .40, 11.0oz-in (.078 N-m)
Compact 35 pounds (156 N) M2.5 x.45, 12.5oz-in (.088 N-m)
Per Tab
Screw Type, Corresponding
Maximum Rotary Torque
.
Atlas® Digital Amplifier Complete Technical Reference 21
Functional Characteristics
11.0 Oz-in (.078 N-m) - Ultra Compact Package
12.5 OZ-in (.088N-m) - Compact Package
M2.0 or M2.5 Screw
2
Figure 2-7:
Atlas Torque
Specifications
Mechanical mounting procedure. Atlas units that are mated to a heat sink or mechanical plate should be attached by
progressively tightening both of the Atlas unit’s tabs. This means that one screw may be tightened, followed by the
other, than back to the first etc. until the desired torque at each screw has been achieved. Following this procedure is
particularly important when installing Atlas units over paste or epoxy, where the subsurface layer will undergo
compression and movement before settling to a final installed position.
To ensure that proper contact exists between the Atlas and the entire 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 exceeding at any point the torque limit on either tab of 25 lbs (111 N) linear
force or 11.0 oz-in (.078 N-m) rotary torque using a M2.0 x .40 screw for the ultra compact Atlas package, and
35 lbs(156N) linear force or 12.5oz-in (.088 N-m) rotary torque using a M2.5 x .45screw for the compact Atlas
package.
.
It is the responsibility of the user to ensure that all Atlas units have been installed within the above prescribed
mechanical stress limits and following the above described procedures. Failure to observe any of the above recommended procedures and limits may result in incorrect operation or failure of the Atlas during operation.
22 Atlas® Digital Amplifier Complete Technical Reference
3.Electrical Specifications
In This Chapter
Drive Ratings
Absolute Maximum Ratings
Environmental Ratings
Safety and Compliance
DC Characteristics
AC Characteristics
Pin Descriptions and Pinouts
Signal Interfacing
Connection Overview
Heat Sink Grounding
Atlas Conversion Factors
3.1 Drive Ratings
3.1.1 Low Power Units (P/Ns MD2x1048/02xB)
3
Specifications
Nominal supply voltage 12-48 VDC 12-48 VDC 12-48 VDC
Continuous current 1.5 ADC 1.5 Arms 1.5 Arms
Peak current (per phase) 3.8 A 3.8 A 3.8 A
Maximum continuous power 72 W 88 W 102 W
*
transformer isolated power supply, T < 40° C
A coldplate or a heatsink in an environment with sufficient airflow can be used to achieve the above drive ratings.
For 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 higher temperature drive
ratings.
*
DC Brush
Motor
Brushless DC
Motor
Step
Motor
3.1.2 Medium Power Units (P/Ns MD2x1048/05xB)
Specifications
Nominal supply voltage 12-48 VDC 12-48 VDC 12-48 VDC
Continuous current 7.0 ADC 5 Arms 4.5 Arms
Peak current (per phase) 12.5 A 12.5 A 12.5 A
Maximum continuous power 336 W 294 W 305 W
*
DC Brush Motor Brushless DC Motor Step Motor
Atlas® Digital Amplifier Complete Technical Reference
23
Electrical Specifications
3
*
transformer isolated power supply, T < 40° C
A coldplate or a heatsink in an environment with sufficient airflow can be used to achieve the above drive ratings.
For 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 higher temperature drive
ratings.
3.1.3 High Power Units (P/Ns MD2x1056/25xB)
Specifications
Nominal supply voltage 12-56 VDC 12-56 VDC 12-56 VDC
Continuous current 14.0 ADC 10.0 Arms 9.0 Arms
Peak current (per phase) 25.0 A 25.0 A 25.0 A
Maximum continuous power 670 W 590 W 610 W
*
transformer isolated power supply, T < 40° C
*
DC Brush Motor Brushless DC Motor Step Motor
A coldplate or a heatsink in an environment with sufficient airflow can be used to achieve the above drive ratings.
For 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 higher temperature drive
ratings.
3.2 Absolute Maximum Ratings
Parameter Rating
HV voltage range, low power units 0 V to +52 V
HV voltage range, medium power units 0 V to +52 V
HV voltage range, high power units 0 V to +60 V
~Enable voltage range -10 V to +24 V
SPISI, SPIClk, ~SPICS voltage range -0.5 V to 6.5 V
SPISO voltage range -0.5 V to 3.7 V
FaultOut voltage range -0.3 V to 24 V
FaultOut output current -35 uA to 50 mA
5V output current, low power units 50 mA
5V output current, medium power units 50 mA
5V output current, high power units 100 mA
All voltage values are with respect to GND unless otherwise noted.
24 Atlas® Digital Amplifier Complete Technical Reference
3.3 Environmental Ratings
Specification Value
Operating ambient temperature 0 to 40 C
Maximum base plate temperature 75 C
Storage temperature -20 to 85 C
Reflow soldering temperature 300 C (1.5mm for 10 seconds)
Humidity 0 to 95%, non-condensing
Altitude Up to 2,000 meters without derating
Contamination Pollution Degree 2
3.4 Safety and Compliance
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 UL94-HB
Enclosure IP20
Electrical Specifications
3
3.5 DC Characteristics
3.5.1 SPISI, SPIClk
Schmitt-trigger Input Min Max Conditions
, Positive-going input threshold voltage 1.6 V 2.0 V
V
+
V-, Negative-going input threshold voltage 0.9 V 1.2 V
VT, Hysteresis V+-V- 0.6 V 1.0 V
, input current ±1 uA Input voltage is 5.5 V or GND
I
IN
3.5.2 SPISO
Min Max Conditions
, output voltage 0 3.3 V
V
O
, Logic 1 output voltage 3.2 V IOH=-100 uA
V
OH
2.4 V I
, Logic 0 output voltage 0.1 V IOL=100 uA
V
OL
0.7 V I
I
, input current when ~SPICS is “1” 10 uA VO = 0 to 3.7 V
OZ
=-16 mA
OH
=16 mA
OL
Atlas® Digital Amplifier Complete Technical Reference 25
Electrical Specifications
3
3.5.3 ~SPICS
, Logic 1 input voltage 2 V
V
IH
, Logic 0 input voltage 0.8 V
V
IL
, pull-up current -500 uA
I
IN
3.5.4 ~Enable
Schmitt-trigger input Min Max Conditions
V+, Positive-going 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
3.5.5 FaultOut
Output impedance with Logic 1 output 148 Kohm 152 Kohm I
, Logic 0 output voltage 0.25 V IOL=10 mA
V
OL
Min TYP Max Conditions
Min Max Conditions
=-100 uA
OH
3.5.6 5V
Min Max Conditions
Voltage tolerance, low power units -5% 5% Output current 0-50 mA
Voltage tolerance, medium power units -5% 5% Output current 0-50 mA
Voltage tolerance, high power units -5% 5% Output current 0-100 mA
Short circuit protection Not available
26 Atlas® Digital Amplifier Complete Technical Reference
3.6 AC Characteristics
SPISI
SPISO
SPIClk
~SPICS
T1
T3
T2
T5 T6
data is valid
data
must be valid
T8
T4
T9
T7
Electrical Specifications
Figure 3-1:
Timing
Diagrams
3
See Figure 3-1
Timing Interval No. Min Max
, SPI clock cycle time T1 125 nsec
T
SPI
Pulse duration, SPIClk high T3 (0.5 T
Pulse duration, SPIClk low T4 (0.5 T
SPIClk high to SPISO valid delay time T5 30 nsec
SPISO date valid time after SPIClk low T6 0 nsec
SPISI setup time before SPIClk low T7 30 nsec
SPISI valid time after SPIClk low T8 (0.5 T
~SPICS low to first SPIClk high T2 400 nsec
Last SPIClk low to ~SPICS high T9 0.5 T
for timing numbers.
-10) nsec
SPI
-10) nsec
SPI
-6) nsec
SPI
SPI
3.7 Pin Descriptions and Pinouts
Atlas units regardless of package size or mounting configuration provide a common set of signals and functions
All
however the pin addresses and number of pins for various functions are different between the ultra compact Atlas
units and the compact Atlas units. In addition, the pin addresses are different between the horizontal and vertical
mounting configurations for each package size.
The following sections provide detailed 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® Digital Amplifier Complete Technical Reference
27
Electrical Specifications
18
16
14 12
10
8 6
4
17
15
13 119 7 5
3
1
6 5 4321
17 15 13 11 9 7
18 16 14 12 10 8
3
Figure 3-2:
Atlas Pinouts Ultra Compact,
Vertical
3.7.1 Atlas Pinouts - Ultra Compact, Vertical
Pin Name Pin Name
1HV 2
3Motor A 4Pwr_Gnd
5Motor C 6Motor 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
Figure 3-3:
Atlas Pinouts Ultra Compact,
Horizontal
The ultra compact Atlas vertical package is keyed so that it is installation direction dependent. It has no physical
pin installed at the Pin #2 location.
3.7.2 Atlas Pinouts - Ultra Compact, Horizontal
Pin Name Pin Name
1 Motor D 2 Motor C
3 Motor B 4 Motor A
5HV 6 Pwr_Gnd
7 SPISI/Direction 8 SPIClk/Pulse
9 SPISO 10 ~SPICS/AtRest
28 Atlas® Digital Amplifier Complete Technical Reference
11 5V 12 GND
19
17 15
13 11 9 7 5 3 1
20
18
16 14
12 10 8 6
4
2
12
10 8
6
4 2
22 21 20 19
18
17 16 15 14 13
11
9
7 5
3
1
13 FaultOut 14 ~Enable
15 GND 16 NC (no connect)
17 NC (no connect) 18 NC (no connect)
3.7.3 Atlas Pinouts - Compact, Vertical
Pin Name Pin Name
1 Pwr_Gnd 2 Pwr_Gnd
3HV 4 HV
5 Motor A 6 Motor A
7 Motor B 8 Motor B
9 Motor C 10 Motor C
11 Motor D 12 Motor D
13 ~Enable 14 FaultOut
15 5V 16 GND
17 ~SPICS/AtRest 18 SPISI/Direction
19 SPIClk/Pulse 20 SPISO
Electrical Specifications
Figure 3-4:
Atlas Pinouts Compact,
Vertical
3
The compact Atlas package provides additional power output via doubling of the HV, Pwr_Gnd, and Motor output
pins. To achieve the rated unit power output be sure that both pins are connected.
The compact Atlas vertical package is not keyed and therefore care should be taken to install in the correct orientation.
3.7.4 Atlas Pinouts - Compact, Horizontal
Figure 3-5:
Atlas Pinouts Compact,
Horizontal
Atlas® Digital Amplifier Complete Technical Reference 29
Electrical Specifications
3
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
9HV 10 HV
11 Pwr_Gnd 12 Pwr_Gnd
13 5V 14 GND
15 ~Enable 16 FaultOut
17 GND 18 ~SPICS/AtRest
19 SPISO 20 SPISI/Direction
21 SPIClk/Pulse 22 GND
The compact Atlas package provides additional power output via doubling of the HV, Pwr_Gnd, and Motor output
pins. To achieve the rated unit power output be sure that both pins are connected.
3.7.5 Pin Descriptions
Pin Name Direction Description
HV DC power to Atlas module, referenced to Pwr_Gnd. The DC power source
Pwr_Gnd Power return for HV, Motor A, Motor B, Motor C and Motor D. For the compact
Motor A Motor output pin A. Used with Brushless DC, DC Brush, and Step Motors. For the
Motor B Motor output pin B. Used with Brushless DC, DC Brush, and Step Motors. For the
Motor C Motor output pin C. Used with Brushless DC, and Step Motors. For the compact
Motor D Motor output pin D. Used with Step Motors. For the compact Atlas package two
~Enable Input ~Enable is an active-low input. Should be tied or driven low for Atlas motor output
FaultOut Output FaultOut is high impedance when active. It provides programmable fault indication,
SPIClk/Pulse Input SPI input clock or Pulse signal.
SPISO Output SPI data master in slave out signal. It goes to high impedance when ~SPICS is high.
should be a transformer isolated power supply. For the compact Atlas package two
pins carry this signal, so care should be taken to connect both pins.
Atlas package two pins carry this signal, so care should be taken to connect both
pins. For greatest EMI protection double shielded cables on the motor winding A,
B, C, and D should be used with the inner shield connected to Pwr_Gnd and the
outer shield connected to chassis ground.
compact Atlas package two pins carry this signal, so care should be taken to connect both pins.
compact Atlas package two pins carry this signal, so care should be taken to connect both pins.
Atlas package two pins carry this signal, so care should be taken to connect both
pins.
pins carry this signal, so care should be taken to connect both pins.
to be active.
and is low when inactive.
Pulse is used when Atlas is set to pulse & direction signal mode, and causes a position change command upon a high to low transition. Selection of signal interpretation for this pin is via the SPI communications bus. The default signal interpretation
is SPIClk.
This pin is not used if Atlas is operating in pulse & direction signal mode.
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