M3000 - imshome.com · • 32-bit position counter • 32-bit position compare register • 32-bit...
2
http://motion.schneider-electric.com 0.630 sq. ± 0.01 (16 sq. ± 0.25) 0.551 sq. ± 0.004 (14 sq. ± 0.10) 0.007 ± 0.002 (0.18 ± 0.05) 0.016 (0.40) 0.024 +0.004 - 0.006 (0.60 + 0.70) - 0.45) 0.040 (1.0) 0.004 ± 0.002 (0.10 ± 0.05) 0.039 ± 0.002 (0.99 ± 0.05) Index 1 32 33 64 65 96 97 128 SS-M3000-S [128 QFP] Top View Feature Overview CPU Block • A high-speed RISC based Atmel AVR core running at 20 MHz • 4K x 8 of data RAM • 64K x 16 embedded program memory 4 • Boot code for system initialization and in- circuit FLASH programming • JTAG port for system debug • Watchdog timer • Interrupt controller with 2 external interrupts • Internal and external counter timers 2 • 20 general purpose I/O lines 1 • External 4K x 8 data interface 2 Communication Block • 2 SPI ports • General purpose UART • CAN controller General Purpose Analog Block • 10-bit A to D converter • 10-bit D to A converter • Analog mux • Operational amplifier Motor Phase Current Control Block • Sine/cosine generator capable of 20 different resolutions including: - degrees: 0.01 deg/microstep 3 - metric: 0.001 mm/microstep 3 (25.4 mm/rev linear device) - arc minutes: 1 arc minute / microstep 3 • 10-bit sine/cosine D to A converters • 8-bit reference D to A converter • Advanced dual H-bridge control • Advanced phase current control with low and mid range resonance reduction Motion Control Block • Advanced acceleration/deceleration velocity generator capable of up to a 5MHz step clock rate • 32-bit position counter • 32-bit position compare register • 32-bit high-speed position capture register • 5MHz encoder interface • 32-bit encoder counter • External clock interface for following (with ratio) or providing an external clock and direction that accepts/outputs step and direction, quadrature or step up/down signals 1 12 I/O lines on 128-pin TQFP; 20 I/O lines on 160-pin LQFP and 128-ball TFBGA. 2 Not available in all packages. 3 200 step/revolution motor. 4 M3001 128-ball TFBGA package only. Storage Temperature ............................................................................................ -65°C to +150°C Operating Temperature........................................................................................... -40°C to +85°C Operating Voltage ............................................................................................................. 3.3 VDC Operating Voltage (5V Tolerant) ........................................................................................ 5.0 VDC The M3000 Motor and Motion Controller is a highly integrated, mixed signal system-on-a-chip. The M3000 combines all the major building blocks necessary to control and position multi-phase step motors while also working as a high-speed general purpose microcontroller incorporating extensive communication, analog and system functions. Integration phase current control circuits enables motor performance to reach new limits of increased speed and smoothness while lowering audible noise and vibration. And with System Semiconductor’s advanced acceleration, velocity and position control circuits virtually eliminating corresponding time critical tasks, the CPU is freed to perform other system control functions allowing system throughput rivaling high-end DSP’s costing far more. Incorporation of the M3000’s extensive communication and general analog functions provides the user the capability to control a large variety of systems without additional circuits. By integrating all major system’s functions into one system-on-a-chip, performance and reliability are greatly enhanced while cost and time to market are reduced. A large temperature range also makes the M3000 ideal for commercial, industrial and automotive applications. M3000 Motor and Motion Controller 0.40 sq. (10 sq.) 0.346 sq. (8.8 sq.) 0.031 (0.8) 11 x Solder Ball Diameter 0.014 to 0.018 (0.35 to 0.45) 128 Places 0.047 Max. (1.2 Max.) A B C D E F G H J K L M 12 11 10 9 8 7 6 5 4 3 2 1 A1 Corner 0.010 to 0.014 (0.25 to 0.35) 0.024 +0.004 - 0.006 (0.60 + 0.70) - 0.45) 0.040 (1.0) 0.004 ± 0.002 (0.10 ± 0.05) 0.055 ± 0.002 (1.40 ± 0.05) 0.009 ± 0.002 (0.22 ± 0.05) 0.020 (0.50) 1.024 sq. ± 0.01 (26 sq. ± 0.25) 0.945 sq. ± 0.004 (24 sq. ± 0.10) 1 40 41 80 81 120 121 160 Index Package Specifications Dimensions in Inches (mm) © Schneider Electric Motion USA All rights reserved. Product specifications subject to change. REV081007 SS-M3001-B [128 BGA] Bottom View SS-M3000-F [160 QFP] Top View
Transcript of M3000 - imshome.com · • 32-bit position counter • 32-bit position compare register • 32-bit...
http://motion.schneider-electric.com
0.630 sq. ± 0.01(16 sq. ± 0.25)
0.551 sq. ± 0.004(14 sq. ± 0.10)
0.007 ± 0.002(0.18 ± 0.05)
0.016(0.40)
0.024 +0.004- 0.006
(0.60+ 0.70)- 0.45)
0.040(1.0) 0.004 ± 0.002
(0.10 ± 0.05)
0.039 ± 0.002(0.99 ± 0.05)
Index
1 32
33
64
6596
97
128
SS-M3000-S [128 QFP] Top View
Feature OverviewCPU Block • A high-speed RISC based Atmel AVR core running at 20 MHz • 4K x 8 of data RAM • 64K x 16 embedded program memory4
• Boot code for system initialization and in- circuit FLASH programming • JTAG port for system debug • Watchdog timer • Interrupt controller with 2 external interrupts • Internal and external counter timers2
• 20 general purpose I/O lines1
• External 4K x 8 data interface2
Communication Block • 2 SPI ports • General purpose UART • CAN controllerGeneral Purpose Analog Block • 10-bit A to D converter • 10-bit D to A converter • Analog mux • Operational amplifierMotor Phase Current Control Block • Sine/cosine generator capable of 20 different resolutions including: - degrees: 0.01 deg/microstep3
- metric: 0.001 mm/microstep3 (25.4 mm/rev linear device) - arc minutes: 1 arc minute / microstep3
• 10-bit sine/cosine D to A converters • 8-bit reference D to A converter • Advanced dual H-bridge control • Advanced phase current control with low and mid range resonance reductionMotion Control Block • Advanced acceleration/deceleration velocity generator capable of up to a 5MHz step clock rate • 32-bit position counter • 32-bit position compare register • 32-bit high-speed position capture register • 5MHz encoder interface • 32-bit encoder counter • External clock interface for following (with ratio) or providing an external clock and direction that accepts/outputs step and direction, quadrature or step up/down signals1 12 I/O lines on 128-pin TQFP; 20 I/O lines on 160-pin LQFP and 128-ball TFBGA.2 Not available in all packages.3 200 step/revolution motor.4 M3001 128-ball TFBGA package only.
Storage Temperature ............................................................................................-65°C to +150°COperating Temperature ...........................................................................................-40°C to +85°COperating Voltage ............................................................................................................. 3.3 VDCOperating Voltage (5V Tolerant) ........................................................................................ 5.0 VDC
The M3000 Motor and Motion Controller is a highly integrated, mixed signal system-on-a-chip. The M3000 combines all the major building blocks necessary to control and position multi-phase step motors while also working as a high-speed general purpose microcontroller incorporating extensive communication, analog and system functions.
Integration phase current control circuits enables motor performance to reach new limits of increased speed and smoothness while lowering audible noise and vibration. And with System Semiconductor’s advanced acceleration, velocity and position control circuits virtually eliminating corresponding time critical tasks, the CPU is freed to perform other system control functions allowing system throughput rivaling high-end DSP’s costing far more.
Incorporation of the M3000’s extensive communication and general analog functions provides the user the capability to control a large variety of systems without additional circuits. By integrating all major system’s functions into one system-on-a-chip, performance and reliability are greatly enhanced while cost and time to market are reduced. A large temperature range also makes the M3000 ideal for commercial, industrial and automotive applications.
M3000 Motor and Motion Controller
0.40 sq.(10 sq.)
0.346 sq.(8.8 sq.)
0.031(0.8)11 x
Solder Ball Diameter0.014 to 0.018(0.35 to 0.45)
128 Places
0.047 Max.(1.2 Max.)
A
B
C
D
E
F
G
H
J
K
L
M
12 11 10 9 8 7 6 5 4 3 2 1
A1Corner
0.010 to 0.014(0.25 to 0.35)
0.024 +0.004- 0.006
(0.60+ 0.70)- 0.45)
0.040(1.0) 0.004 ± 0.002
(0.10 ± 0.05)
0.055 ± 0.002(1.40 ± 0.05)
0.009 ± 0.002(0.22 ± 0.05)
0.020(0.50)
1.024 sq. ± 0.01(26 sq. ± 0.25)
0.945 sq. ± 0.004(24 sq. ± 0.10)
1 40
41
80
81120
121
160Index
Package SpecificationsDimensions in Inches (mm)
© Schneider Electric Motion USA All rights reserved.Product specifications subject to change. REV081007
SS-M3001-B [128 BGA] Bottom View
SS-M3000-F [160 QFP] Top View
M3000 Block Diagram
06447
AVR V3 Core16-bit inst8-bit data
Boot ROM1024x16
data
out[7
:0]
adr[5
:0]
ram
addr
[15:
0]
Instr PrgmRegisters
(2) Internal8-Bit Timer
Data RAM4Kx8
D/A10-Bit
A/D10-Bit
JTAG
AnalogSwitch
inst[15:0]
pc[15:0]
dbusin[7:0]
irqlines[6:0]
WatchdogTimer
Bus XTALOSCControl
dout
_dly
[7:0
]
pmem_d[15:0]
InterruptRegisters
ext_int[1:0]
pmem_a[15:0]
fail_n
MasterSPI
spi_msospi_mcsnspi_mclkspi_msi
UserSPI
spi_usospi_ucsnspi_uclkspi_usi
UARTuart_txduart_rxd
pmem_oenpmem_wen
(2) ExternalTimers
(8,16-BIT)ocb
oca
t0clkt1clkicp0
GP I/ORegisters
gpio[19:12]
jtag_tdijtag_tmsjtag_tclk
jtag_tdo
flash_sramnrepgm_pmem
ExternalRAM Intf4Kx8
dmem_ad[7:0]dmem_oendmem_wendmem_cendmem_ale
CANIntf
can_txdcan_rxd
dac_out
adc_in (160 & 128 QFP Only)
mux_ad_da
op_amp_out
op_amp_mop_amp_p
Communication
Embedded FlashM3001 Only
General Purpose Analog
Motor & MotionControl Logic
Detail:
10-Bit Sine D/A
Ref D/A8-Bit
oa
Motor Phase Control
Motion Control
sin_out
phb [1:0]pha [1:0]
cos_out
cur_out
Dual H-BridgeControl
pha [3:0]phb [3:0]
pha_pwm
bridge_enabledzero_cross
phb_pwm
Phase CurrentControl with
AntiResonance
xtal_in
reset_n
xtal_out
Sin/CosGenerator
DataRegisters
32-BitPositionCounter
EncoderInterface
32-BitEncoderCounter
32-BitPosition Compare
32-Bit HighSpeed Position
Capture
Accelerationand VelocityGenerator
sinecosinestep
dir
ram addrdout dly
dirio
stepio
encoder_in_aencoder_in_b
en_pininv_hbc
inv_lbcfault_in_n
capture_in
intr
intr
Motor and Motion Control Logic
10-Bit Cosine D/AFollower Ratio
Input ClockConversion
Output ClockConversion
step instep out
dir indir out
step-pindir-pin
dir vgstep vg
oa
dmem_a(11:8) ���
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�
160 QFP Only
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160 QFP Only
���
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160 and 128QFP Only
160 QFP128 BGA
Only
Features specific to certain packages denoted in red italic type.
160 QFP128 BGA
Only
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�160 QFP128 QFP
Only
gpio[11:0]
CodeSpace(PGM)64Kx16
