PMD MC3410 Datasheet

Performance Motion Devices, Inc.

55 Old Bedford Road

Lincoln, MA 01773

Pilot™ Motion Processor

MC3410 Single Chip

Technical Specifications

for Microstepping Motion Control

Revision 1.5, July 2003

NOTICE

This document contains proprietary and confidential information of Performance Motion Devices,
Inc., and is protected by federal copyright law. The contents of this document may not be disclosed
to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express
written permission of PMD.

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 2000 by Performance Motion Devices, Inc.
Navigator, Pilot and C-Motion are trademarks of Performance Motion Devices, Inc

MC3410 Technical Specifications

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Warranty

PMD warrants performance of its products to the specifications applicable at the time of sale in
accordance with PMD's standard warranty. Testing and other quality control techniques are utilized
to the extent PMD deems necessary to support this warranty. Specific testing of all parameters of
each device is not necessarily performed, except those mandated by government requirements.

Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to
discontinue any product or service without notice, and advises customers to obtain the latest version
of relevant information to verify, before placing orders, that information being relied on is current
and complete. All products are sold subject to the terms and conditions of sale supplied at the time
of order acknowledgement, including those pertaining to warranty, patent infringement, and
limitation of liability.

Safety Notice

Certain applications using semiconductor products may involve potential risks of death, personal
injury, or severe property or environmental damage. Products are not designed, authorized, or
warranted to be suitable for use in life support devices or systems or other critical applications.
Inclusion of PMD products in such applications is understood to be fully at the customer's risk.

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.

MC3410 Technical Specifications

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MC3410 Technical Specifications

v

Related Documents

Pilot Motion Processor User’s Guide (MC3000UG)

How to set up and use all members of the Pilot Motion Processor family.

Pilot Motion Processor Programmer’s Reference (MC3000PR)

Descriptions of all Pilot Motion Processor commands, with coding syntax and examples, listed
alphabetically for quick reference.

Pilot Motion Processor Technical Specifications

These booklets contain physical and electrical characteristics, timing diagrams, pinouts and pin
descriptions of each:

MC3110, for brushed servo motion control (MC3110TS)

MC3310, for brushless servo motion control (MC3310TS)

MC3410, for microstepping motion control (MC3410TS)

MC3510, for stepper motion control (MC3510TS)

Pilot Motion Processor Developer’s Kit Manual (DK3000M)

How to install and configure the DK3410 developer’s kit PC board.

MC3410 Technical Specifications

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MC3410 Technical Specifications

vii

Table of Contents

Warranty...................................................................................................................................................... iii

Safety Notice ................................................................................................................................................iii

Disclaimer.....................................................................................................................................................iii

Related Documents....................................................................................................................................... v

Table of Contents........................................................................................................................................ vii

1 The Pilot Family ........................................................................................................................................ 9

2 Functional Characteristics...................................................................................................................... 11

2.1 Configurations, parameters, and performance.............................................................................. 11

2.2 Physical characteristics and mounting dimensions....................................................................... 13

2.3 Environmental and electrical ratings............................................................................................14

2.4 System configuration.................................................................................................................... 14

2.5 Peripheral device address mapping...............................................................................................15

3 Electrical Characteristics........................................................................................................................ 16

3.1 DC characteristics......................................................................................................................... 16

3.2 AC characteristics......................................................................................................................... 16

4 I/O Timing Diagrams..............................................................................................................................18

4.1 Clock ............................................................................................................................................ 18

4.2 Quadrature encoder input.............................................................................................................18

4.3 Reset............................................................................................................................................. 18

4.4 Host interface, 8/16 mode (requires external logic device).......................................................... 19

4.4.1 Instruction write, 8/16 mode................................................................................................. 19

4.4.2 Data write, 8/16 mode...........................................................................................................19

4.4.3 Data read, 8/16 mode............................................................................................................20

4.4.4 Status read, 8/16 mode..........................................................................................................20

4.5 Host interface, 16/16 mode (requires external logic device) ........................................................ 21

4.5.1 Instruction write, 16/16 mode............................................................................................... 21

4.5.2 Data write, 16/16 mode......................................................................................................... 21

4.5.3 Data read, 16/16 mode.......................................................................................................... 22

4.5.4 Status read, 16/16 mode........................................................................................................ 22

4.6 External memory timing............................................................................................................... 23

4.6.1 External memory read........................................................................................................... 23

4.6.2 External memory write......................................................................................................... 23

4.7 Peripheral device timing............................................................................................................... 24

4.7.1 Peripheral device read........................................................................................................... 24

4.7.2 Peripheral device write.........................................................................................................24

5 Pinouts and Pin Descriptions.................................................................................................................. 25

5.1 Pinouts for MC3410..................................................................................................................... 25

5.2 CP chip pin description table........................................................................................................ 26

MC3410 Technical Specifications

viii

6 Parallel Communication......................................................................................................................... 30

6.1 Host interface pin description table.............................................................................................. 30

6.2 16-bit Host Interface (IOPIL16)................................................................................................... 32

6.3 8-bit Host Interface (IOPIL8)....................................................................................................... 46

7 Application Notes..................................................................................................................................... 62

7.1 Design Tips................................................................................................................................... 62

7.2 RS-232 Serial Interface ................................................................................................................ 64

7.3 RS 422/485 Serial Interface.......................................................................................................... 66

7.4 PWM Motor Interface .................................................................................................................. 68

7.5 12-bit Parallel DAC Interface....................................................................................................... 70

7.6 16-bit Serial DAC Interface.......................................................................................................... 72

7.7 RAM Interface.............................................................................................................................. 74

7.8 User-defined I/O........................................................................................................................... 76

7.9 12-bit A/D Interface...................................................................................................................... 78

7.10 16-bit A/D Input........................................................................................................................... 80

7.11 External Gating Logic Index ........................................................................................................ 82

MC3410 Technical Specifications

9

1 The Pilot Family

MC3110 MC3310 MC3410 MC3510

Number of axes

1 1 1 1

Motor type supported

Brushed servo

Brushless servo Stepping Stepping

Output format

Brushed servo

(single phase)

Commutated (6-

step or sinusoidal)

Microstepping Pulse and Direction

Incremental encoder
input

√ √ √ √

Parallel word device
input

√ √ √ √

Parallel communication

√

1

√1 √1 √1

Serial communication

√ √ √ √

S-curve profiling

√ √ √ √

On-the-fly changes

√ √ √ √

Directional limit
switches

√ √ √ √

Programmable bit output

√ √ √ √

Software-invertable
signals

√ √ √ √

PID servo control

√ √

- -

Feedforward (accel &
vel)

√ √

- -

Derivative sampling time

√ √

- -

Data trace/diagnostics

√ √ √ √

PWM output

√ √ √ -

Pulse & direction output

- - - √

Index & Home signals

√ √ √ √

Motion error detection

√ √

√

(with encoder) √ (with encoder)

Axis settled indicator

√ √

√

(with encoder) √ (with encoder)

DAC-compatible output

√ √ √ -

Position capture

√ √ √ √

Analog input

√ √ √ √

User-defined I/O

√ √ √ √

External RAM support

√ √ √ √

Multi-chip
synchronization

√

(MC3113) √ (MC3313) √ (MC3413)

-

Chip part numbers

MC3110 MC3310 MC3410 MC3510

Developer's Kit p/n's:

DK3110 DK3310 DK3410 DK3510

1

Parallel communication is available via an additional logic device

Introduction

This manual describes the operational characteristics of the MC3410 Motion Processor from PMD.
This device is a member of the MC3000 family of single-chip, single-axis motion processors.

MC3410 Technical Specifications

10

Each device of the MC3000 family is a complete chip-based motion processor providing trajectory
generation and related motion control functions for one axis including servo loop closure or on­board commutation where appropriate. This family of products provides a software-compatible
selection of dedicated motion processors that can handle a large variety of system configurations.

The chip architecture not only makes it ideal for the task of motion control, it allows for similarities
in software commands, so software written for one motor type can be re-used if the motor type is
changed.

Pilot Family Summary

MC3110 – This single-chip, single-axis motion processor outputs motor commands in either
Sign/Magnitude PWM or DAC-compatible format for use with brushed servo motors, or with
brushless servo motors having external commutation.

MC3310 – This single-chip, single-axis motion processor outputs sinusoidally commutated motor
signals appropriate for driving brushless motors. Depending on the motor type, the output is a two­phase or three-phase signal in either PWM or DAC-compatible format.

MC3410 – This single-chip, single-axis motion processor outputs microstepping signals for stepping
motors. Two phased signals per axis are generated in either PWM or DAC-compatible format.

MC3510 – This single-chip, single-axis motion processor outputs pulse and direction signals for
stepping motor systems.

MC3410 Technical Specifications

11

2 Functional Characteristics

2.1 Configurations, parameters, and performance

Configuration

Single axis, single chip.

Operating modes

Open loop (motor command is driven from output of trajectory generator and
microstep generator, encoder input used for stall detection)

Communication modes

8/16 parallel (8 bit external parallel bus with 16 bit internal command word size)
16/16 parallel (16 bit external parallel bus with 16 bit internal command word

size)
Point to point asynchronous serial
Multi-drop asynchronous serial

Serial port baud rate range

1,200 baud to 416,667 baud

Position range

-2,147,483,648 to +2,147,483,647 counts

Velocity range

-32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample

Acceleration/ deceleration ranges

-32,768 to +32,767 counts/sample

2

with a resolution of 1/65,536 counts/sample2

Jerk range

0 to ½ counts/sample

3

, with a resolution of 1/4,294,967,296 counts/sample3

Profile modes

S-curve point-to-point (Velocity, acceleration, jerk, and position parameters)
Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position

parameters)
Velocity-contouring (Velocity, acceleration, and deceleration parameters)

Filter modes

Scalable PID + Velocity feedforward + Acceleration feedforward + Bias. Also
includes integration limit, settable derivative sampling time, and output motor
command limiting

Filter parameter resolution

16 bits

Position error tracking

Motion error window (allows axis to be stopped upon exceeding programmable
window)

Tracking window (allows flag to be set if axis exceeds a programmable position
window)

Axis settled (allows flag to be set if axis exceeds a programmable position
window for a programmable amount of time after trajectory motion is compete)

Motor output modes

PWM (80 kHz, 8-bit*)
DAC (16 bits)

Commutation rate

20 kHz

Microstepping waveform

Sinusoidal

Number of microsteps per full step

Programmable 1 to 256

Maximum encoder rate

Incremental (up to 5 million counts/sec)
Parallel-word (up to 160 million counts/sec)

Parallel encoder word size

16 bits

Parallel encoder read rate

20 kHz (reads all axes every 50 µsec)

Cycle loop timing range

153.6 µsec to 32.767 milliseconds

Minimum cycle loop time

153.6 µsec

Limit switches

2 per axis: one for each direction of travel

Position-capture triggers

2 per axis: index and home signals

MC3410 Technical Specifications

12

Other digital signals

1xAxisIn, 1xAxisOut

Software-invertable signals

Index, Home, AxisIn, AxisOut, PositiveLimit, NegativeLimit (all individually
programmable)

Analog input

8 10-bit analog inputs

User defined discrete I/O

256 16-bit wide user defined I/O

RAM/external memory support

65,536 blocks of 32,768 16-bit words per block. Total accessible memory is
2,147,483,648 16 bit words

Trace modes

one-time
continuous

Max. number of trace variables

4

Number of traceable variables

27

Number of host instructions

116

* The MC3410 is also available with 20 kHz, 10-bit PWM output. Please contact PMD for information.

MC3410 Technical Specifications

13

2.2 Physical characteristics and mounting dimensions

All dimensions are in inches (with millimeters in brackets).

Dimension Minimum

(inches)

Maximum
(inches)

D 1.070 1.090
D1 0.934 0.966
D2 1.088 1.112
D3 0.800 nominal

MC3410 Technical Specifications

14

2.3 Environmental and electrical ratings

Storage Temperature (Ts)

-55 °C to 150 °C

Operating Temperature (T

a)

0 °C to 70 °C*

Power Dissipation (P

d)

400 mW

Nominal Clock Frequency (F

clk)

20.0 MHz

Supply Voltage limits (V

cc)

-0.3V to +7.0V

Supply Voltage operating range (V

cc)

4.75V to 5.25V

* An industrial version with an operating range of -40°C to 85°C is also available. Please contact
PMD for more information.

2.4 System configuration

The following figure shows the principal control and data paths in an MC3410 system.

Host

CP

HostData0-15

~HostSlct

Parallel port

Serial Port

System clock
(40 MHz)

HostIntrpt

HostRdy

~HostWrite

HostCmd

~HostRead

Parallel-word input

External memory

User I/O

Serial port configuration

Parallel Communication

PLD/FPGA

2

0

M

H

z

c

l

o

c

k

16 bit data/address bus

AxisOut

Negative

Positive

AxisIn

Hall sensors

(MC3310 only)

Motor

Amplifier

PWM output

DAC output

D/A

converter

A

Home

Index

B

Encoder

Pilot Motion Processor

Limit

switches

The shaded area shows the CPLD/FPGA that must be provided by the designer if parallel
communication is required. A description and the necessary logic (in the form of schematics) of this
device are detailed in section 6 of this manual. The CP chip contains the profile generator, which
calculates velocity, acceleration, and position values for a trajectory; and the commutation unit, which

MC3410 Technical Specifications

15

calculates a motor command for each motor phase. The commutation unit produces one of two
types of output:

• a Pulse-Width Modulated (PWM) signal output; or

• a DAC-compatible value routed via the data bus to the appropriate D/A converter.

Axis position information returns to the motion processor in the form of encoder feedback using
either the incremental encoder input signals, or via the bus as parallel word input.

2.5 Peripheral device address mapping

Device addresses on the CP chip’s data bus are memory-mapped to the following locations:

Address Device Description

0200h Serial port data Contains the configuration data (transmission rate,

parity, stop bits, etc) for the asynchronous serial port

0800h Parallel-word encoder Base address for parallel-word feedback devices

1000h User-defined Base address for user-defined I/O devices

2000h RAM page pointer Page pointer to external memory

4000h Motor-output DACs Base address for motor-output D/A converters

8000h Parallel interface Base address for parallel interface communication

MC3410 Technical Specifications

16

3 Electrical Characteristics

3.1 DC characteristics

(Vcc and Ta per operating ratings, F

clk

= 20.0 MHz)

Symbol Parameter Minimum Maximum Conditions

Vcc Supply Voltage 4.75 V 5.25 V
Idd Supply Current 80 mA open outputs

Input Voltages

Vih Logic 1 input voltage 2.0 V Vcc + 0.3 V
Vil Logic 0 input voltage -0.3 V 0.8 V
V

ihclk

Logic 1 voltage for clock pin

(ClockIn)

3.0 V Vcc + 0.3 V

V

oclk

Logic 0 voltage for clock pin

(ClockIn)

-0.3 V 0.7 V

V

ihreset

Logic 1 voltage for reset pin (reset) 2.2 V Vcc + 0.3 V

Output Voltages

Voh Logic 1 Output Voltage 2.4 V @CP Io = -23 mA
Vol Logic 0 Output Voltage 0.33 V @CP Io = 6 mA

Other

I

out

Tri-State output leakage current

-5 µA 5 µA

@CP
0 < V

out

< Vcc

Iin Input current

-10 µA

10 µA

@CP
0 < V

i

< Vcc

Cio Input/Output capacitance 15 pF @CP typical

Analog Input

Zai Analog input source impedance

9kΩ

E

dnl

Differential nonlinearity error.

Difference between the step width
and the ideal value.

-1 1.5 LSB

E

inl

Integral nonlinearity error.

Maximum deviation from the best
straight line through the ADC
transfer characteristics, excluding
the quantization error.

+/-1.5 LSB

3.2 AC characteristics

See timing diagrams, Section 4, for Tn numbers. The symbol “~” indicates active low signal.

Timing Interval Tn Minimum Maximum

Clock Frequency (F

clk

) > 0 MHz 20 MHz (note 1)
Clock Pulse Width T1 25 nsec
Clock Period (note 2) T2 50 nsec
Encoder Pulse Width T3 150 nsec
Dwell Time Per State T4 75 nsec
~HostSlct Hold Time T6 0 nsec

MC3410 Technical Specifications

17

Timing Interval Tn Minimum Maximum

~HostSlct Setup Time T7 0 nsec
HostCmd Setup Time T8 0 nsec
HostCmd Hold Time T9 0 nsec
Read Data Access Time T10 25 nsec
Read Data Hold Time T11 10 nsec
~HostRead High to HI-Z Time T12 20 nsec
HostRdy Delay Time T13 100 nsec 150 nsec
~HostWrite Pulse Width T14 70 nsec
Write Data Delay Time T15 35 nsec
Write Data Hold Time T16 0 nsec
Read Recovery Time (note 2) T17 60 nsec
Write Recovery Time (note 2) T18 60 nsec
Read Pulse Width T19 70 nsec
Address Setup Delay Time T20 7 nsec
Data Access Time T21 19 nsec
Data Hold Time T22 2 nsec
Address Setup Delay Time T23 7 nsec
Address Setup to WriteEnable High T24 72 nsec
RAMSlct Low to WriteEnable High T25 79 nsec
Address Hold Time T26 17 nsec
WriteEnable Pulse Width T27 39 nsec
Data Setup Time T28 3 nsec
Data Setup before Write High Time T29 42 nsec
Address Setup Delay Time T30 7 nsec
Data Access Time T31 71 nsec
Data Hold Time T32 2 nsec
Address Setup Delay Time T33 7 nsec
Address Setup to WriteEnable High T34 122 nsec
PeriphSlct Low to WriteEnable High T35 129 nsec
Address Hold Time T36 17 nsec
WriteEnable Pulse Width T37 89 nsec
Data Setup Time T38 3 nsec
Data Setup before Write High Time T39 92 nsec
Read to Write Delay Time T40 50 nsec
Reset Low Pulse Width T50

5.0 µsec
RAMSlct Low to Strobe Low T51 1 nsec
Strobe High to RAMSlct High T52 4 nsec
WriteEnable Low to Strobe Low T53 1 nsec
Strobe High to WriteEnable High T54 3 nsec
PeriphSlct Low to Strobe Low T55 1 nsec
Strobe High to PeriphSlct High T56 4 nsec

Note 1 Performance figures and timing information valid at F

clk

= 20.0 MHz only. For timing

information and performance parameters at F

clk

< 20.0 MHz, refer to section 7.1.

Note 2 The clock low/high split has an allowable range of 45-55%.

MC3410 Technical Specifications

18

4 I/O Timing Diagrams

For the values of Tn, please refer to the table in Section 3.2.

The host interface timing shown in diagrams 4.4 and 4.5 is only valid when an external logic device is
used to provide a parallel communication interface. Refer to section 6 for more information.

4.1 Clock

4.2 Quadrature encoder input

4.3 Reset

T1 T2

ClockIn

T1

V

cc

ClockIn

~RESET

T50

T3

T3

T4

T4

Quad A

Quad B

~Index

MC3410 Technical Specifications

19

4.4 Host interface, 8/16 mode (requires external logic device)

4.4.1 Instruction write, 8/16 mode

HostData0-7

~HostSlct

HostCmd

HostRdy

~HostWrite

Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.

T7

T6

see note

T8

T18

T9

T14

T14

see note

T16

T16

T15

T13

T15

Low byteHigh byte

4.4.2 Data write, 8/16 mode

HostData0-7

~HostSlct

HostCmd

HostRdy

~HostWrite

Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this
point.

T7

T8

T6

T9

T15

see note

see note

Low byte

T16

T13

T16

T15

High byte

T18

T14

T14

MC3410 Technical Specifications

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4.4.3 Data read, 8/16 mode

HostData0-7

~HostSlct

T7

T8

T19

T6

T9

T13

T11

HostCmd

HostRdy

~HostRead

T12

T10

High-Z

High-Z

High-Z

High

byte

Low byte

Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this
point.

see note

see note

4.4.4 Status read, 8/16 mode

~HostSlct

T7

T8

T17

T6

T9

T11

HostCmd

HostData0-7

~HostRead

T12

T10

High-Z High-Z

High-Z

High
byte

Low byte

T19

MC3410 Technical Specifications

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4.5 Host interface, 16/16 mode (requires external logic device)

4.5.1 Instruction write, 16/16 mode

T7 T6

T9

T14

T16

T8

T13

T15

~HostSlct

HostCmd

~HostWrite

HostData0-15

HostRdy

4.5.2 Data write, 16/16 mode

T7 T6

T9

T14

T16

T8

T13

T15

~HostSlct

HostCmd

~HostWrite

HostData0-15

HostRdy

MC3410 Technical Specifications

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4.5.3 Data read, 16/16 mode

~HostSlct

T7

T8

T13

T11

HostCmd

HostData0-15

HostRdy

~HostRead

T12

T10

High-Z

High-Z

T6

T9

T19

4.5.4 Status read, 16/16 mode

~HostSlct

T7

T8

T11

HostCmd

HostData0-15

~HostRead

T12

T10

High-Z

High-Z

T6

T9

T19

MC3410 Technical Specifications

23

4.6 External memory timing

4.6.1 External memory read

Note: PMD recommends using memory with an access time no greater than 15 nsec.

4.6.2 External memory write

Addr0-Addr15

R/~W

W/~R

~WriteEnbl

Data0-Data15

~RAMSlct

T26

T27

T27

T23

T28

T24

T25

T29

~Strobe

T53 T54

~RAMSlct

Addr0-Addr15

W/~R

~WriteEnbl

Data0-Data15

T21

T20

T40

~Strobe

T52T51

MC3410 Technical Specifications

24

4.7 Peripheral device timing

4.7.1 Peripheral device read

4.7.2 Peripheral device write

Addr0-Addr15

R/~W

W/~R

~WriteEnbl

Data0-Data15

~PeriphSlct

T36

T37

T37

T33

T38

T34

T35

T39

~Strobe

T53 T54

~PeriphSlct

Addr0-Addr15

W/~R

~WriteEnbl

Data0-Data15

T31

T32

T30

T31

T40

~Strobe

T56T55

MC3410 Technical Specifications

25

5 Pinouts and Pin Descriptions

5.1 Pinouts for MC3410

CP

~WriteEnbl

~PeriphSlct

GND

3, 8, 14, 20, 29, 37, 46, 56, 59,

61, 71, 92, 104, 113, 120

Unassigned

5, 30-34, 38, 39, 42, 45, 48, 49,

51, 55, 57, 73, 90, 91, 95, 105,

106, 107-109, 131

VCC

2, 7, 13, 21, 35, 36, 40, 47, 50,

52, 60, 62, 66, 93, 103, 121

9
10
11
12
15
16
17
18
19
22
23
24
25
26
27
28

111
112
114
115
116
117
118
119
122
123
124
125
126
127
128

43
44
99
98
58

SrlRcv
SrlXmt
SrlEnable
~HostIntrpt
ClockIn

Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
Data9
Data10
Data11
Data12
Data13
Data14
Data15

Addr1
Addr2
Addr3
Addr4
Addr5
Addr6
Addr7
Addr8
Addr9
Addr10
Addr11
Addr12
Addr13
Addr14
Addr15

4

6
130
129

41

R/~W
~Strobe

~RAMSlct
~Reset

W/~R132

1

63
64

PosLim1

NegLim1

85
86
87

94
72

74
89
75
88
76
83
77
82

AxisOut1

AxisIn1

Analog1
Analog2
Analog3
Analog4
Analog5
Analog6
Analog7
Analog8

AnalogVcc

AnalogRefHigh

AnalogRefLow

AnalogGnd

84

67
68

QuadA1
QuadB1

69
70

100
101

~Index1

~Home1

PWMMag1
PWMMag2

110 Addr0

102PWMMag3

96PWMSign1

97PWMSign2

54

NC/Synch

I/OIntrpt

53

PrlEnable

65

AGND

78-81