EMOTION SYSTEM COMM.KIT 数据手册
User Guide
MSM-Series Motors
MMP-Series Motor Controllers
User Guide
MSM Motors / MMP Motor Controllers
Table of Contents
Overview .................................................................................................................................................. 3
Introduction ........................................................................................................................................... 3
Evaluation Kit Contents ......................................................................................................................... 3
Safety Warnings ...................................................................................................................................... 4
Section 1. Hardware ............................................................................................................................... 5
1.1 Connections .................................................................................................................................... 5
1.2 Power .............................................................................................................................................. 5
1.3 Control Interface .............................................................................................................................. 5
1.3.1 Pulse Control Interface ............................................................................................................. 5
1.3.2 RS-485 Control Interface .......................................................................................................... 6
1.4 Mechanical Mounting ...................................................................................................................... 8
Section 2. Operational Modes................................................................................................................ 9
2.1 Position Control Mode ..................................................................................................................... 9
2.1.1 RS-485 Control Mode ............................................................................................................... 9
2.1.2 PUL/DIR Control Mode ............................................................................................................. 9
2.2 Speed Control Mode ..................................................................................................................... 10
2.2.1 RS-485 Control Mode ............................................................................................................. 10
2.2.2 PWM/DIR Control Mode ......................................................................................................... 10
2.3 Torque Control Mode .................................................................................................................... 11
2.3.1 RS-485 Control Mode ............................................................................................................. 11
2.3.2 PWM/DIR Mode ...................................................................................................................... 11
2.4 Fault Indication .............................................................................................................................. 11
Section 3. PC-Based Software Control ............................................................................................... 12
3.1 Quick Start Guide .......................................................................................................................... 12
3.2 Software Installation Procedure .................................................................................................... 12
3.3 Connecting the Interface ............................................................................................................... 14
Section 4. eMotion SystemTM Virtual Bench ....................................................................................... 15
4.1 Basic Operation ............................................................................................................................. 15
4.1.1 Communication ....................................................................................................................... 15
4.1.2 Firmware Updates .................................................................................................................. 15
4.1.3 Loading and Saving Configuration Files ................................................................................. 16
4.1.4 Aligning and Testing the Angle Sensor................................................................................... 16
4.1.5 Setting the Control Mode ........................................................................................................ 16
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4.1.6 Running the Motor .................................................................................................................. 17
Section 5. Register Map ....................................................................................................................... 19
Section 6. Register Detail ..................................................................................................................... 20
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Overview
Introduction
The MSM-series motors are fully integrated solutions for servo motor applications. They integrate a
position sensor, controller, and driver inside the motor housing to provide a complete “smart motor”
solution.
RS-485
Pulse/Dir
Controller
Power
Driver
Magnetic
Angle
Sensor
Motor
The motors may be operated in speed,
position, or torque control modes. The motors
are controlled through either an RS-485 serial
interface, or with simple PULSE/DIR signals.
Programmable parameters can be set with an
easy-to-use PC-based program, which
interfaces to the motor through USB and the
RS-485 interface. Once parameters have
been optimized, they can be saved in nonvolatile memory in the motor.
In addition to complete motor assemblies, a controller/driver module is also available. The MMP series
offers a control and driver solution that can be integrated with other motors.
The MMP module includes a magnetic angle sensor for rotor feedback, a field-oriented-control (FOC)
motor controller, and a motor driver.
Evaluation Kit Contents
The MSM-series motors and MMP-series controllers are provided with an interface to be able to program
and control the motor from a PC computer. The kits contain the following:
MSM-series motor, or MMP-series controller
Mating connectors
USB to RS-485 interface box
USB cable
In addition, the GUI PC software and USB driver software need to be downloaded from the MPS website.
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Safety Warnings
To prevent personal injury or damage to the motor or other equipment, follow these precautions:
Always secure the motor before applying power. The motor may move unexpectedly, and can
jump or fall when it starts.
Keep hair and loose clothing away from the motor.
Keep away from the shaft and any attached mechanical parts when operating the motor.
Do not open or disassemble the motor.
When installed in a system, the motor enclosure should be bonded to a protective ground.
The power source connected to the motor should be fused or otherwise current-limited.
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Section 1. Hardware
1.1 Connections
Power and control connections are made to the rear surface of
the motor. LEDs indicate the presence of power, and that a fault
condition has occurred.
Mating connectors are listed below:
Connector
Control
RS-485
Power
Pins
5
4
3
Manufacturer
Wurth
Wurth
Wurth
Part Number
691382000005
691382000004
691382000003
DC power is connected to the motor through the 3-pin connector on the rear of the motor
housing. Apply a DC voltage within the range specified on the datasheet for the particular
model used. The power supply should be fused or current-limited, and be capable of
supplying current up to the desired current limit of the motor.
5 GND
6 R7 VIN
1.2 Power
The R- pin may be connected to an external power resistor and to VIN. This resistor can
be used to limit the bus voltage by dissipating energy when energy is returned from the
motor. This can happen during regenerative braking or other conditions.
1.3 Control Interface
The motor may be controlled either using high-level commands through an RS-485 interface, or by
using a simple pulse and direction interface.
PEND+
Direction
To motor
To motor
To motor
From
motor
Pin
9
12
11
Description
When driven high, enables the motor.
When driven high, sets CW rotation direction.
Pulse or PWM input to control position or speed.
10
Driven active when position is reached.
8
9
10
11
12
Signal
ENA+
DIR+
PUL+
COMEN+
PEN+
PUL+
DIR+
1.3.1 Pulse Control Interface
The pulse control interface is optically isolated. The interface uses the following signals:
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The internal circuitry connected to these signals is shown below:
1kΩ
1kΩ
3.3V
270
ENA+
270
EN
3.3V
PUL+
PUL
22pF
1nF
COM-
COM-
1kΩ
3.3V
270
DIR+
270Ω
DIR
PEND+
3.3V
1nF
PEND
COM-
COM-
270
In pulse control mode, the motor moves a pre-programmed amount each time a pulse is inputted. The
rotation direction is set by the state of the DIR input signal, and motion is enabled or disabled by the
ENA signal.
When the motion is complete, the PEND output signal goes active to indicate that the motor has
completed the motion.
Direction
To motor
N/A
Bidirectional
Bidirectional
Pin
1
3
4
2
Description
External 5V power for firmware programming
Ground for EXT_5V
RS-485 data A (non-inverting)
RS-485 data B (inverting)
1
2
3
4
Signal
EXT_5V
AGND
A
B
EXT_5V
B
AGND
A
1.3.2 RS-485 Control Interface
The RS-485 serial interface uses the following signals:
The RS-485 has an asynchronous serial interface, and uses standard RS-485
transceivers. The baud rate is set to 115200bps by default, but can be changed by writing to the
BAUDRATE register, or by using the eMotion SystemTM Virtual Bench program.
The module supports multi-slaver communication. To change the slaver address, enter the slave
address and click write. Address 0x00 is the broadcast address; all slavers will respond when the
master using 0x00 as the slave address.
The master address is the address that the communication kit (or other master) is using. The master
address and slave address should be same to achieve successful communication.
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To communicate with the module without applying the main VIN power (e.g. to program the nonvolatile
memory), supply 5V DC to the EXT-5V pin. In normal operation, this pin is not connected.
The connection between a master controller and the MSM-series motor (or MMP-series controller) is
shown below:
RO
B
REn
Master
DI
DO
DE
B
RS-485
A
RS485 xcvr
A
RS485 xcvr
Motor Module
Controller
To write data to the motor, a data packet is sent that contains a slave address, register address, and
data. The 1 sent at the beginning of the register address byte indicates a write operation. Use odd
parity check.
DE / REn
S = Start Bit
P =Stop Bit
C = Parity Check Bit
DO
S 1
Slave Address
(7-bit, LSB 1st)
C P
S 1
Register Add.
(7-bit, LSB 1st)
C P
S
Data [7:0]
(LSB 1st)
C P
S
Data [15:8]
(LSB 1st)
C P
To read data from the motor, the slave address and register address are sent, and then the motor
returns the data. The 0 sent at the beginning of the register address byte indicates a read operation.
DE / REn
DO
S = Start Bit
P =Stop Bit
C = Parity Check Bit
RO
S = Start Bit
P =Stop Bit
C = Parity Check Bit
S 1
Slave Address
(7-bit, LSB 1st)
C P
S 0
Register Add.
(7-bit, LSB 1st)
C P
S
Data [7:0]
(LSB 1st)
C P
S
Data [15:8]
(LSB 1st)
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1.4 Mechanical Mounting
The MSM-series motors are mechanically mounted from a front flange, like other NEMA frame motors.
See the datasheets for each motor for mounting dimensions.
MMP-series controllers are designed to mount to the back of standard NEMA motors. See the datasheets
for each controller for details.
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Section 2. Operational Modes
2.1 Position Control Mode
2.1.1 RS-485 Control Mode
Using RS-485 control, the position mode is programmable in absolute command mode or incremental
command mode. The mode is set through the POS_CMD_TYPE register. Absolute mode commands the
motor to an absolute position; incremental commands move the motor relative to its present position.
In absolute command mode, the maximum command limit is ±32,768 mechanical revolutions. In
incremental command mode, the minimum command resolution should be greater than 0.2° due to the
resolution limitations of the internal position sensor.
The command is set through the POS_CMD register (0x4A & 0x4B), as shown below:
Forward:
POS_CMD[31:0] = (Revs + Theta / 360) * 216
0x4A[15:0] = POS_CMD[31:16]
0x4B[15:0] = POS_CMD[15:0]
Reverse:
POS_ CMD[31:0] = 232 – (Revs + Theta / 360) * 216
0x4A[15:0] = POS_CMD[31:16]
0x4B[15:0] = POS_CMD[15:0]
Revs: Target position command full revolutions.
Theta: Target position command angle.
Below are examples to set the position to 2 revolutions plus 45°:
Forward:
0x4A[15:0] = 2 = 0002h
0x4B[15:0] = 45/360 * 216 = 2000h
Reverse:
0x4A [15:0] = 216 – 2 = FFFDh
0x4B[15:0] = 216 – 45/360 * 216 = E000h
The maximum speed limit to approach position command is programmable through the SPEED_LIMIT
register. The default value is 3000rpm. Write 0x0000 to register 0x76 to update the position command.
2.1.2 PUL/DIR Control Mode
In PUL/DIR command control mode, the position works in incremental mode. Each rising edge on the
PUL input will move the motor by a programmable increment. The number of pulses per revolution is
programmable to be 512, 1024, 2048, or 4096 pulses per mechanical revolution. This is set through the
NSTEP register. The default value is 4096.
To smoothly ramp the speed of the motor, the velocity up/down slope is programmable through the
POS_CMD_SLOPE register.
The loop parameters can be optimized through the KP_POS and KP_GAIN_POS registers, according to
the system requirements with the real mechanical load.
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The maximum torque limit is programmable with the MAX_LIMIT_IQ register.
2.2 Speed Control Mode
2.2.1 RS-485 Control Mode
In speed control mode, the speed command (in rpm) is set through the RS-485 interface. The command
is set through the SPD_CMD register (0x4D & 0x4E), as shown below:
Forward:
SPD_ CMD[31:0] = (Speed / 60) * 232 / 10,000
0x4D = SPD_ CMD[31:16]
0x4E = SPD_ CMD[15:0]
Reverse:
SPD_ CMD[31:0] = 232 – (Speed / 60) * 232 / 10,000
0x4D = SPD_ CMD[31:16]
0x4E = SPD_ CMD[15:0]
Speed: Target speed in rpm.
Below is an example to set the speed to 3,000rpm:
Forward:
SPD_ CMD[31:0] = (3,000 / 60) * 232 / 10,000 = 0147AE14h
0x4D = SPD_ CMD[31:16] = 0147h
0x4E = SPD_ CMD[15:0] = AE14h
Reverse:
SPD_ CMD[31:0] = 232 – ((3,000 / 60) * 232 / 10,000) = FFFCB965h
0x4D = SPD_ CMD[31:16] = FFFCh
0x4E = SPD_ CMD[15:0] = B965h
In speed mode, the velocity ramp-up/ramp-down slope is programmable with the SPD_CMD_SLOPE
register.
The loop parameters can be optimized through registers KP_SPD, KP_GAIN_SPD, KI_SPD,
KI_GAIN_SPD, and KC_SPD, based on the real mechanical load.
The maximum torque limit is programmable with the MAX_LIMIT_IQ register. See details in the Torque
Control Mode section on page 11. Write 0x0000 to register 0x76 to update the speed command.
2.2.2 PWM/DIR Control Mode
In PWM/DIR command control mode, the motor speed is controlled by the duty cycle of the PWM input.
The real motor speed is SPEED_CMD x duty_cycle, and the SPEED_CMD is programmable (register
0x4D, register 0x4E). The PWM signal frequency should be between 100Hz and 10kHz.
The DIR pin can control the direction. When DIR is at a high level, the motor moves forward.
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2.3 Torque Control Mode
2.3.1 RS-485 Control Mode
In torque control mode, the torque command (which corresponds to phase current) is set directly through
the RS-485 interface. The command is set through the IQ_CMD register, as shown below:
If iq is positive:
IQ_CMD[11:0] = iq * 1.5 * 0.01 * KAD * 1024 / 1.6
If iq is negative:
IQ_CMD[11:0] = 212 – (iq * 1.5 * 0.01 * KAD * 1024 / 1.6)
iq: Torque current in A.
KAD: Amplifier gain coefficient of current sensing. Default value is 2.
Below is an example to set 5A torque current:
When iq is positive:
IQ_CMD[11:0] = 5 * 1.5 * 0.01 * 2 * 1024 / 1.6 = 60h
When iq is negative:
IQ_CMD[11:0] = 212 – (5 * 1.5 * 0.01 * 2 * 1024 / 1.6) = FA0h
iq: Torque current in A.
2.3.2 PWM/DIR Mode
In PWM/DIR command control mode, the motor torque is controlled by the duty cycle of the PWM input.
The real motor torque is IQ_REF x duty_cycle, and the IQ_REF is programmable (register 0x2F). The
PWM signal frequency should be between 100Hz and 10kHz. The DIR pin can control the torque direction.
When DIR is at a high level, the torque is positive, which means the motor tries to go forward.
In torque mode, the maximum speed clamp is programmable through the T_MAX_SPD and
ANTI_TORQUE_GAIN registers. The loop parameters can be optimized through the CURRENT_KP
and CURRENT_KI registers.
2.4 Fault Indication
The control module has robust protection to avoid unexpected failure modes and external component
damage. The fault type can be determined either from the register value 0x53 or from the red LED flash
times.
Fault Type
OCP
Rotor lock
Overload
Over-temperature
Register 0x53 Flag Bit
Bit 2
Bit 3
Bit 4
Bit 5
LED Flash Times
3
4
5
6
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Section 3. PC-Based Software Control
3.1 Quick Start Guide
The MSM-series motors are pre-programmed with initial parameters, so the motor can simply be
connected to power and to a PC (via the USB-RS-485 interface), which will spin the motor. Before
connecting the motor, install the software and connect as described below.
3.2 Software Installation Procedure
To use a PC to program and run the motor, first download and install the driver and GUI software.
1.
2.
3.
4.
Download the GUI and driver installer from www.monolithicpower.com
Navigate to the folder containing the installer.
Double-click on the installer to launch it.
Follow the prompts to:
Select the language
Accept the license agreement
Specify the installation location (or use the default)
Specify the shortcut location (or use the default)
Choose to create desktop or quick launch icons (or not)
Select “Install”
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The device driver installation will then begin.
Confirm installation is complete.
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3.3 Connecting the Interface
To communicate with the motor, connect the MPS USB to RS-485 interface to the motor RS-485
connector and to the host PC via the supplied USB cable.
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Section 4. eMotion SystemTM Virtual Bench
The eMotion SystemTM Virtual Bench program allows control and programming of the motor. Once
programmed, the motor may be controlled via the RS-485 interface or using the PUL/DIR interface.
The following sections describe the different functions in the eMotion SystemTM Virtual Bench.
4.1 Basic Operation
4.1.1 Communication
The eMotion SystemTM Virtual Bench program communicates with the motor through a USB to RS-485
interface.
When properly connected, the program will report “Communication success” at the bottom of the
window. If there is an issue with the USB cable, or if the USB driver has not been loaded, “USB device
unconnected” will be displayed. If the USB communication is successful but there is no response from
the motor (as would be the case if the motor was not powered), then “Communication failed” will be
displayed.
4.1.2 Firmware Updates
The internal firmware may be updated using eMotion SystemTM Virtual Bench.
Click on “Firmware Update,” and select the firmware update file.
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4.1.3 Loading and Saving Configuration Files
The design parameters for a motor may be saved to a file and loaded into the
eMotion SystemTM Virtual Bench. For MSM-series motors, a configuration file is
provided that is optimized for that motor.
To load a configuration, click “Load Design” and select the file to be loaded. To save
a design, click “Save Design” and enter a location and file name.
4.1.4 Aligning and Testing the Angle Sensor
The orientation of the magnet on the motor shaft may be arbitrarily aligned with respect to the rotor
magnets. An alignment step drives the rotor to a known position and establishes the orientation of the
magnet.
If the “Aligning Done” indicator is red, alignment needs to be performed. To perform alignment, click the
“Start” button under “Aligning Test.” The “Aligning Done” indicator should turn green.
To check sensor mounting, click the “Start” button under “Checking Sensor Mounting.” After the check,
the indicator should turn green.
4.1.5 Setting the Control Mode
Select the control mode (RS-485 or pulse) as well as position control or speed control modes by
clicking the “Input Interface” button. Click “Set Kit Bus” to change the baud rate of the RS485 interface.
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4.1.6 Running the Motor
Clicking the “Online Test” button opens up a new screen that allows the motor to be run and control loop
parameters to be adjusted to optimize motor performance in application.
If a configuration file has been loaded, many of the parameters will already be populated correctly.
In position control mode, the screen looks like this:
The “Reference” section allows selection of the rotation direction, incremental or absolute positioning
mode, and the desired target position.
Loop parameters, including gain, bandwidth, and limits may be set for the three control loops (torque,
speed, and position).
The motor speed and/or position are reported in the graph, which can be run, stopped, or cleared.
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In speed control mode, the reference section is different:
Here, the target speed can be programmed (as well as the rotation direction).
To run the motor, follow the steps below:
1. Set the reference information (target speed or position).
2. Set the loop parameters. For MSM-series motors, these should have already been provided from the
configuration file.
3. Click “Load to RAM” to transfer the data to the controller.
4. Click “Start/Stop” to run the motor.
5. If any changes are made to the parameters, click “Load to MTP” to save the new parameters into
nonvolatile memory in the motor. (Or click “Save Design” to save to a file after exiting this screen).
Return to the main GUI screen by clicking the “Return” button.
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Section 5. Register Map
Addr
D[15:0]
Position Command
4AH
4BH
4CH
1DH
50H
POS_CMD[31:16]
POS_CMD [15:0]
POS_CMD_SLOPE[15:0]
1AH
1BH
1CH
KP_POS[15:0]
KP_GAIN _POS[15:0]
SPEED_LIMIT[15:0]
4DH
4EH
4FH
SPEED_CMD[15:0]
SPEED_CMD[31:16]
SPEED_CMD_SLOPE[15:0]
22H
23H
24H
25H
26H
27H
KP_SPD[15:0]
KP_GAIN _SPD [15:0]
KI_SPD[15:0]
KI_GAIN_SPD[15:0]
KC_SPD[15:0]
MAX_LIMIT_IQ[11:0]
2FH
IQ_CMD[11:0]
2DH
2EH
43H
44H
T_MAX_SPD[15:0]
ANTI_TORQUE_GAIN[15:0]
CURRENT_KP[15:0]
CURRENT_KI[15:0]
34H
Reserved
ACCE[4:0]
NSTEP[15:0]
Position Loop Settings
Speed Command
Speed Loop Settings
Torque Command
Torque Loop Settings
53H
OTP[5]
Operating Mode
POS_CMD_TYPE
Protection Parameters
OVER_LOAD[
LOCK[3]
OCP[2]
4]
CMD_MODE
MODE[1:0]
PSFT[1]
56H
59H
5AH
58H
6BH
VDC_LIMIT[15:1]
AD_GAIN[15:0]
IOCP[15:0]
DEAD_TIME[15:0]
OVER_TEMPERATURE[15:0]
VDC_LIMIT_EN[0]
57H
FSW[15:0]
5CH
5DH
70H
71H
73H
74H
76H
RS485 Communication & Operating Command
RS485_ADDR[15:0]
RS485_BAUDRATE[15:0]
RUN[15:0]
BRAKE[15:0]
LOAD_TO_FLASH[15:0]
LOAD_FROM_FLASH[15:0]
UPDATE_COMMAND
Switching Frequency
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Section 6. Register Detail
Position Command
0x4A: POS_CMD[31:16]
Bit[15:0]
Name
[15:0]
Default
POS_CMD
0000H
0x4B: POS_CMD[15:0]
Bit[15:0]
Name
Default
[15:0]
POS_CMD
0x4C: POS_CMD_SLOPE[15:0]
Bit[15:0]
Name
[15:0]
POS_CMD_
SLOPE
0x1D: ACCE[4:0]
Bit[15:0]
Name
[4:0]
ACCE
0x50: NSTEP[15:0]
Bit[15:0]
Name
[15:0]
NSTEP
0000H
Default
0064H
Default
0x01
Default
0000H
Description
Position command high 16 bits.
POS_CMD[31:0] = (Revolutions + Theta / 360) * 216
0x4A[15:0] = POS_CMD[31:16]
Description
Position command low 16 bits.
POS_CMD[31:0] = (Revolutions + Theta / 360) * 216
0x4B[15:0] = POS_CMD[15:0]
Description
Position command ramping slope, unit LSB/100μs, 216 LSBs
per revolution.
Example below is to set 100rpm ramping slope:
POS_CMD_SLOPE = 100(rpm) * 216 / 60 / 10,000
Description
Acceleration rate in position mode. The real acceleration rate
is ACCE * 5760rpm/s.
Description
Stepping resolution per pulse input:
NSTEP = 4: 4096 pulses per turn
NSTEP = 5: 2048 pulses per turn
NSTEP = 6: 1024 pulses per turn
NSTEP = 7: 512 pulses per turn
Position Loop Settings
0x1A: KP_POS [15:0]
Bit[15:0]
Name
[15:0]
KP_POS
0x1B: KP_GAIN _POS [15:0]
Bit[15:0]
Name
KP_GAIN_PO
[15:0]
S
0x1C: SPEED_LIMIT[15:0]
Bit[15:0]
Name
[15:0]
SPEED_LIMIT
Default
00FAH
Description
Position loop proportional gain.
Default
Description
Gain ratio of the position loop proportional gain.
8008H
Default
02FFH
Description
Maximum speed in position mode, unit is LSB/50μs, 216 LSBs
per revolution.
Example below is to set 3,000rpm speed limit:
SPEED_LIMIT = 3000(rpm) * 216 / 60 / 10,000
Speed Command
0x4D: SPEED_ CMD[31:16]
Bit[15:0]
Name
[15:0]
SPEED_CMD
Default
000AH
Description
Speed command high 16 bits.
For forward direction:
SPD_ CMD[31:0] = Speed / 60 * 232 / 10,000
For reserve direction:
SPD_ CMD[31:0] = 232 – (Speed / 60 * 232 / 10,000)
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0x4D = SPD_ CMD[31:16]
0x4E: SPEED_REF[15:0]
Bit[15:0]
Name
[15:0]
SPEED_ CMD
Default
0000H
0x4F: SPEED_REF_SLOPE[15:0]
Bit[15:0]
Name
Default
[15:0]
SPEED_
CMD_SLOPE
1300H
Description
Speed command low 16 bits.
For forward direction:
SPD_ CMD[31:0] = Speed(rpm) / 60 * 232 / 10,000
For reserve direction:
SPD_ CMD[31:0] = 232 – (Speed(rpm) / 60 * 232 / 10,000)
0x4E = SPD_ CMD[15:0]
Description
Speed command slope, LSB / 100μs / 100μs, 216 LSBs per
revolution.
Example below is to set slope with N RPM/ms:
SPEED_ CMD_SLOPE = N(rpm) * 216 * 216 / 6,000,000
Speed Loop Settings
0x22: KP_ SPEED [15:0]
Bit[15:0]
Name
[15:0]
KP_ SPEED
0x23: KP_GAIN _SPEED [15:0]
Bit[15:0]
Name
[15:0]
KP_GAIN
_SPEED
0x24: KI_SPEED[15:0]
Bit[15:0]
Name
[15:0]
KI_SPEED
0x25: KI_GAIN_SPEED[15:0]
Bit[15:0]
Name
[15:0]
KI_GAIN_
SPEED
0x26: KC_SPEED[15:0]
Bit[15:0]
Name
[15:0]
KC_SPEED
0x27: MAX_LIMIT_IQ[11:0]
Bit[15:0]
Name
[11:0]
MAX_LIMIT_IQ
Default
FDE8H
Default
8009H
Default
0309H
Default
8013H
Default
0032H
Default
03FFH
Description
The gain ratio of the speed loop proportional gain.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
The gain ratio of the speed loop proportional gain.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
The speed loop integral gain.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
The gain ratio of speed loop proportion gain.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
The speed loop anti-integral gain.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
Maximum torque current limit of speed loop output.
If iq is positive:
MAX_LIMIT_IQ[11:0] = iq * 1.5 * 0.01 * KAD * 1024 / 1.6
If iq is negative:
MAX_LIMIT_IQ[11:0] = 212 – (iq * 1.5 * 0.01 * KAD * 1024 / 1.6)
iq: Torque current in A.
KAD: Amplifier gain coefficient of current sensing. Default value
is 2.
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Torque Command
0x2F: IQ_CMD[11:0]
Bit[11:0]
Name
[11:0]
IQ_REF
Default
Description
Torque current command.
If iq is positive:
IQ_CMD[11:0] = iq * 1.5 * 0.01 * KAD * 1024 / 1.6
If iq is negative:
IQ_CMD[11:0] = 212 – (iq * 1.5 * 0.01 * KAD * 1024 / 1.6)
iq: Torque current in A.
KAD: Amplifier gain coefficient of current sensing. Default value
is 2.
000AH
Torque Loop Settings
0x2D: T_MAX_SPEED[15:0]
Bit[15:0]
Name
[15:0]
T_MAX_SPEE
D
Default
0064H
0x2E: ANTI_TORQUE_GAIN[15:0]
Bit[15:0]
Name
Default
[15:0]
ANTI_TORQU
E_GAIN
0x43: CURRENT_KP[15:0]
Bit[15:0]
Name
[15:0]
CURRENT_KP
0x44: CURRENT_KI[15:0]
Bit[15:0]
Name
[15:0]
CURRENT_KI
000AH
Default
3BB5H
Default
2BA6H
Description
Maximum speed in torque operating mode, unit LSB/50μs, 216
LSBs per revolution.
Example below is to set 3,000rpm speed limit:
T_MAX_SPEED = 3,000(rpm) * 216 / 60 / 10,000
Description
Anti-saturation gain of speed limit in torque mode.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
Proportional gain setting of torque loop.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Description
Integral gain setting of torque loop.
It is recommended to use eMotion SystemTM Virtual Bench to
set loop parameters.
Operating Mode
0x34H
Bit[15:0]
Name
Default
[1:0]
MODE
0H
[3:2]
CMD_MODE
0H
[4]
POS_CMD_TYPE
1H
[5]
STANDBY
1H
[6:15]
Reserved
POS_CMD_TYPE[4] CMD_MODE[3:2]
MODE[1:0]
Description
Control Mode:
00: Speed mode
01: Position mode
10: Torque mode
00: Command source is from RS485 interface.
10: Command source is from PULSE/DIR input.
0: Absolute position mode
1: Incremental position mode
0: Standby mode disabled. The motor starts to run when
powered up.
1: Standby mode enabled. Need to send start command.
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Protection Parameters
0x56
VDC_LIMIT[15:1]
Bit[15:0]
Name
[0]
Default
VDC_LIMIT_EN
0000H
VDC_LIMIT
00C7H
0x58: DEAD_TIME[15:0]
Bit[15:0]
Name
Default
[15:1]
[15:0]
DEAD_TIME
0008H
0x59: AD_GAIN
Bit[15:0]
Name
[2:0]
Default
AD_GAIN
0002H
[3]
AD_MODE
0x5A: IOCP[9:0]
Bit[15:0]
Name
[9:0]
0H
Default
IOCP
03FFH
0x6B: OVER_TEMPERATURE
Bit[15:0]
Name
Default
[15:0]
OVER_TEPERA
TURE
0x0055
VDC_LIMIT_EN[0]
Description
VDC limit function enable bit:
0: VDC limit function disabled
1: VDC limit function enabled
VDC limit voltage setting:
VDC_LIMIT[15:1] = VIN_limit * 3.887
VIN_limit: Bus voltage protection limit in V.
Description
Dead time of the half-bridge switching signal.
The dead time is set by (DEAD_TIME * 25) + 12.5ns.
Description
The amplifier gain of the current sensing voltage:
ADGAIN = 000: KAD = 12X
ADGAIN = 001: KAD = 8X
ADGAIN = 010: KAD = 7X
ADGAIN = 011: KAD = 6X
ADGAIN = 100: KAD = 5X
ADGAIN = 101: KAD = 4X
ADGAIN = 110: KAD = 3X
ADGAIN = 111: KAD = 2X
Should be fixed to 0.
Description
Phase Current OCP protection threshold:
IOCP = Ilimit * 0.01 * KAD * 1024 / 1.6
Ilimit: Real phase current protection limit in A.
Description
Set the over-temperature indication threshold. Unit is °C.
When the board reaches this threshold, the red LED will flash
6 times, pause, and repeat again.
Switching Frequency
0x57: FSW[15:0]
Bit[15:0]
Name
[15:0]
FSW
Default
0014H
Description
Switching frequency in kHz.
RS485 Communication & Operating Commands
0x5C: RS485_ADDR[15:0]
Bit[15:0]
Name
[15:0]
RS485_ADDR
Default
0000H
0x5D: RS485_BAUDRATE[15:0]
Bit[15:0]
Name
Default
[15:0]
BAUDRATE
0000H
Description
RS485 slave address:
Available from 0x00 to 0x7F. 0x00 is alarming address.
Description
RS485 Baud rate:
BAURRATE = fbps / 32
fbps: Target baud rate.
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0x70: RUN[15:0]
Bit[15:0]
Name
[15:0]
RUN
0x71: BRAKE[15:0]
Bit[15:0]
Name
[15:0]
BRAKE
Default
0000H
Default
0000H
0x73: LOAD_TO_FLASH[15:0]
Bit[15:0]
Name
Default
LOAD_TO_
[15:0]
0000H
FLASH
0x74: LOAD_FROM_FLASH[15:0]
Bit[15:0]
Name
Default
LOAD_FROM_
[15:0]
0000H
FLASH
0x76: UPDATE_COMMAND[15:0]
Bit[15:0]
Name
Default
UPDATE_COM
[15:0]
0000H
MAND
Description
Run/stop the motor:
1: Motor run
0: Motor stop
Description
Brake/run the motor:
1: Motor brake
0: Motor run
Description
Write 0x0002 to load register values to flash.
Description
Load register value from flash.
Description
Write 0x0000 to update speed/position command.
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