Performance Motion Devices Juno MC74113 User manual

Performance Motion Devices, Inc.
1 Technology Park Drive
Westford, MA 01886
Juno Step Motor Control IC
User Guide
Revision 1.2 May, 2019

ii Juno Step Motor Control IC User Guide
NOTICE
This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is pro-
tected 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 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, byany means, electronic or mechanical, for any purpose, without the express
written permission of Performance Motion Devices, Inc.
Copyright 1998–2019 by Performance Motion Devices, Inc.
Juno, Atlas, Magellan, ION, Prodigy, Pro-Motion, C-Motion, and VB-Motion are registered trademarks, and
Motion control at its core is a trademark of Performance Motion Devices, Inc.

Juno Step Motor Control IC User Guide iii
Warranty
Performance Motion Devices, Inc. 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 Performance Motion
Devices, Inc. product in an Unauthorized Application (as defined below). Except as specifically provided in this
paragraph, each Performance Motion Devices, Inc. product is provided “as is” and without warranty of any type,
including without limitation implied warranties of merchantability and fitness for any particular purpose.
Performance Motion Devices, Inc. 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
Performance Motion Devices, Inc. products are not designed, approved or warranted for use in any application where
failure of the Performance Motion Devices, Inc. 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 Performance Motion Devices, Inc. product in such a system would not be warranted or
approved by Performance Motion Devices, Inc.
By using any Performance Motion Devices, Inc. product in connection with an Unauthorized Application, the
customer agrees to defend, indemnify and hold harmless Performance Motion Devices, Inc., 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 Performance Motion Devices, Inc. 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
Performance Motion Devices, Inc. assumes no liability for applications assistance or customer product design.
Performance Motion Devices, Inc. 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 Performance Motion
Devices, Inc. covering or relating to any combination, machine, or process in which such products or services might
be or are used. Performance Motion Devices, Inc.’s publication of information regarding any third party’s products or
services does not constitute Performance Motion Devices, Inc.’s approval, warranty or endorsement thereof.

iv Juno Step Motor Control IC User Guide
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Juno Step Motor Control IC User Guide v
Table of Contents
1. The Juno IC Family . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Family Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Juno IC Developer Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2. Functional Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 Configurations, Parameters, and Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Physical Dimensions, 64-PIN TQFP Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 Physical Dimensions, 56-PIN VQFN Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.4 Absolute Maximum Environmental and Electrical Ratings1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3. Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1 DC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2 AC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4. Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 Quadrature Encoder Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2 SPI Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.3 Power On Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.4 Warm Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.5 Pulse & Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5. Pinouts and Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.1 Pinouts for the MC74113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.2 Pinouts for the MC74113N. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.3 Pinouts for the MC75113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.4 Pinouts for the MC75113N. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.5 MC74113, MC74113N, MC75113, MC75113N IC Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6. Juno IC Configuration in the Production Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.1 Loading the NVRAM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.2 Analog Signal Calibration in the Production Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7. Operational Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.1 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.2 Signal Connections Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.3 Control Flow Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.4 Control Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.5 Host Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8. Microstep Waveform Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
8.1 Command Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
8.2 Microsteps Per Full Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8.3 Drive and Holding Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8.4 Encoder Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.5 Settable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.6 Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9. Current Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

vi Juno Step Motor Control IC User Guide
9.1 Settable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2 Signal Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
10. Motor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
10.1 PWM High/Low Motor Output Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
10.2 Sign/Magnitude PWM Output Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
10.3 AmplifierEnable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.4 Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
11. Internal Profile Generation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
11.1 Juno Cycle Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.2 Profile Parameter Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.3 Profile Stop Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.4 Settable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
12. Motion Monitoring & Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
12.1 Status Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
12.2 FaultOut Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
12.3 Event Action Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
12.4 Host Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
12.5 Trace. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
12.6 Settable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
13. Drive & DC Bus Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
13.1 Drive & DC Bus Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
13.2 Current Foldback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
13.3 Settable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
13.4 Signal Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
14. Power-up, Configuration Storage & NVRAM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
14.1 Power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
14.2 NVRAM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
14.3 Initialization Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
14.4 Settable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
14.5 Signal Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
15. Application Notes — MC74113 & MC75113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
15.1 General Design Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
15.2 Design Tips. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
15.3 Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
15.4 Clock Generator, Grounding and
Decoupling 96
15.5 Reset Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
15.6 Drive-Related Safety and Monitoring Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
15.7 PWM High/Low Motor Drive With Leg Current Sensing/Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
15.8 Interfacing Juno ICs With A Multi-Axis Magellan IC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

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List of Figures
This page intentionally left blank.
2-1 64-Pin TQFP Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
2-2 56-Pin VQFN Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
4-1 Quad Encoder Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
4-2 SPI Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
4-3 Power On Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
4-4 Warm Reset Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
4-5 Pulse & Direction Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
5-1 MC74113 Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
5-2 MC74113N Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
5-3 MC75113 Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
5-4 MC75113N Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
6-1 NVRAM Programming Via 3-pin UART Programming Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
7-1 Juno Step Motor Control ICs Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
7-2 Step Motor Juno ICs Interconnec-
tions 40
7-3 Step Motor ICs Control Flow Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
7-4 Step Motor Pulse & Direction Control Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
7-5 Step Motor SPI Control Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
7-6 Serial Host Command Control of Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
7-7 Sample Pro-Motion Script File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
8-1 Microstepping Waveforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
8-2 Pulse & Direction Processing Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
8-3 Direct Input SPI Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
8-4 Quadrature Encoder Processing Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
9-1 Current Loop Control Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
9-2 Typical Current Signal Processing Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
10-1 PWM High/Low Encoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
10-2 PWM High/Low Signal Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
10-3 Two-phase Step Motor Bridge Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
10-4 Sign/Magnitude PWM Encoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
10-5 Sign/Magnitude PWM Step Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
11-1 Internally Generated Velocity Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
12-2 Example Motion Trace Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
13-3 Overcurrent Monitoring Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
13-4 Current Foldback Processing Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
13-5 Over-temperature Processing Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
13-6 DC Bus Monitoring Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
14-1 Typical Reset Processing Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
15-1 Basics, Power Supplies, MC74113 and MC75113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
15-2 Basics, Clock and Bypass Caps, MC74113 and MC75113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
15-3 Drive Safety and Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
15-4 Leg Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
15-5 Step Motor Drive with 2A Continuous Current Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
15-6 Step Motor Drive with 5A Continuous Current Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

viii Juno Step Motor Control IC User Guide
15-7 Step Motor Drive with 10A Continuous Current Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
15-8 Step Motor Control with Sign/Magnitude Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
15-9 Two-Axis Step Motor Drive With Multi-Axis Magellan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113

Juno Step Motor Control IC User Guide 9
1
1.The Juno IC Family
In This Chapter
Introduction
Family Overview
Juno IC Developer Kits
1.1 Introduction
This manual describes the MC74113, MC74113N, MC75113 and MC75113N ICs from Performance Motion Devices,
Inc. These devices comprise the step motor control ICs of PMD Corp.’s Juno Velocity & Torque Control IC family.
Additional members of the family are the MC71113, MC73113, and MC78113 ICs for velocity control of DC Brush and
Brushless DC motors, and the MC71112, MC71112N, MC73112, and MC73112N ICs for torque control of DC Brush
and Brushless DC motors.
PMD Corp.’s Juno ICs are ideal for a wide range of applications including precision liquid pumping, laboratory
automation, scientific automation, flow rate control, pressure control, high speed spindle control, and many other
robotic, scientific, and industrial applications.
The Juno family provides full four quadrant motor control and directly inputs quadrature encoder, index, and Hall
sensor signals. It interfaces to external bridge-type switching amplifiers utilizing PMD Corp.’s proprietary current and
switch signal technology for ultra smooth, ultra quiet motor operation.
Juno ICs can be pre-configured via NVRAM for auto power-up initialization and standalone operation with SPI (Serial
Peripheral Interface), direct analog input, or pulse & direction command input. Alternatively Juno can interface via SPI,
point-to-point serial, multi-drop serial, or CANbus to a host microprocessor.
Internal profile generation provides acceleration and deceleration to a commanded velocity with 32-bit precision.
Additional Juno features include performance trace, programmable event actions, FOC (field oriented control),
microstep signal generation, and external shunt resistor control.
All Juno ICs are available in 64-pin TQFPs (Thin Quad Flat Packages) measuring 12.0 mm x 12.0 mm including leads.
The step motor control ICs and torque control ICs are also available in 56-pin VQFN (Very thin Quad Flat Non-leaded)
packages measuring 7.2 mm x 7.2 mm. These VQFN parts are denoted via a “N” suffix in the part number.

The Juno IC Family
10 Juno Step Motor Control IC User Guide
1
1.2 Family Overview
The following table summarizes the operating modes and control interfaces supported by the Juno IC family:
Note that the MC78113 IC allows the motor type to be selected by the user. It provides all of the operating modes
indicated for the MC71113, MC73113, and MC74113 Juno ICs.
MC74113
MC74113N
MC75113
MC75113N
MC78113
MC71112
MC71112N
MC71113
MC78113
MC73112
MC73112N
MC73113
MC78113
Motor Type & Control Mode
Motor Type Step motor DC Brush DC Brush Brushless DC Brushless DC
Velocity 
Torque/current 
Position & outer loop 
Host Interface
Serial point-to-point 
Serial multi-drop 
SPI 
CANbus 
Command Input
Analog velocity or torque 
SPI velocity or torque 
Pulse & direction 
SPI position increment 
Motion I/O
Quadrature encoder input (MC74113 &
MC74113N only) 
Hall sensor input 
Tachometer input 
AtRest input 
FaultOut output 
HostInterrupt output 
Amplifier Control
PWM High/Low 
PWM Sign/Magnitude 
DCBus & Safety
Shunt 
Overcurrent detect 
Over/undervoltage detect 
Temperature input 
Brake 

The Juno IC Family
Juno Step Motor Control IC User Guide 11
1
1.3 Juno IC Developer Kits
Three different Juno developer kits are available. All of the 64-pin TQFP package Juno ICs are supported via the
DK78113 developer kit board. The DK part numbers differ in the specific type of Juno IC that is installed.
The 56-pin VQFN IC package step motor ICs are supported by the DK74113N developer kit board. The DK part
numbers differ in the specific type of Juno IC that is installed.
The 56-pin VQFN IC package torque control ICs are supported by the DK73112N developer kit board. The DK part
numbers differ in the specific type of Juno IC that is installed.
Each developer kit includes:
• Standalone board with plug and play connectors for fast setup and testing
• Pro-Motion autotuning and axis wizard setup software
• Complete Juno manuals or PDFs
• Extensive application schematic examples
Developer
Kit P/N
Juno IC
Installed Motor supported Comments
DK71112 MC71112 DC Brush Torque control
DK71113 MC71113 DC Brush Velocity & torque control
DK73112 MC73112 Brushless DC Torque control
DK73113 MC73113 Brushless DC Velocity & torque control
DK74113 MC74113 Step Motor Provides quadrature encoder input
DK75113 MC75113 Step Motor No quadrature encoder input
DK78113 MC78113 Multi-motor (Brushless DC, DC
Brush, Step Motor) Velocity & torque control with user-
settable motor type
Developer Kit
P/N
Juno IC
Installed
Motor
Supported Comments
DK74113N MC74113N Step Motor Provides quadrature encoder input
DK75113N MC75113N Step Motor No quadrature encoder input
Developer Kit
P/N
Juno IC
Installed
Motor
Supported Comments
DK71112N MC71112N DC Brush Torque control
DK73112N MC73112N Brushless DC Torque control

The Juno IC Family
12 Juno Step Motor Control IC User Guide
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Juno Step Motor Control IC User Guide 13
2
2.Functional Characteristics
In This Chapter
Configurations, Parameters, and Performance
Physical Dimensions, 64-PIN TQFP Package
Physical Dimensions, 56-PIN VQFN Package
Absolute Maximum Environmental and Electrical Ratings
2.1 Configurations, Parameters, and
Performance
Control command sources Pulse & Direction Position is provided via external pulse & direction
input
SPI Position is provided via SPI (Serial Peripheral Interface)
direct input
Internal profile Position is provided via internal profile generator
function
Host communication modes Point to point asynchronous serial
Serial port baud rate range 1,200 baud to 460,800 baud (1,200, 2,400, 9,600, 19,200, 57,600, 115,200,
230,400, 460,800)
Position range -2,147,483,648 to +2,147,483,647 counts or microsteps
Motor output modes PWM High/Low Individual high and low drive signals for each
bridge switch
Sign/Magnitude PWM Separate sign and magnitude drive signal for
each phase of switching bridge.
Current loop rate 19.53 kHz
Current measurement resolution 12 bits
PWM resolution & rates 1:1,536 @ 20 kHz
1:768 @ 40 kHz
1:384 @ 80 kHz
1:256 @ 120 kHz
DC Bus & safety signals Brake, BusVoltage, BusCurrentSupply, Temperature
Amplifier output signals AmplifierEnable, PWMHighA, PWMLowA, PWMHighB, PWMLowB, PWMHighC,
PWMLowC, PWMHighD, PWMLowD
Serial communication signals SrlXmt, SrlRcv
SPI signals SPIXmt, SPIRcv, SPIClk, SPIEnable
SPI frequency range 1.0 MHz - 10.0 MHz
Step command signals Pulse, Direction, AtRest
Maximum pulse rate 1.0 Mpulses/sec
Encoder input signals QuadA, QuadB, Index
Miscellaneous control signals Enable, FaultOut, HostInterrupt, Reset
Drive safety functions Over current detect, over temperature detect, over voltage detect, under
voltage detect, I
2
t current foldback
Brake input modes Passive braking, full disable

Functional Characteristics
14 Juno Step Motor Control IC User Guide
2
Output limiting I
2
t, current, and voltage limit
Microsteps per full step 1 to 256
Maximum encoder rate 40 Mcounts/sec
Position-capture triggers Index signal
Internal RAM 6,144 16-bit words
Maximum number of simultaneous
trace variables
4
NVRAM 1,024 16-bit words

Functional Characteristics
Juno Step Motor Control IC User Guide 15
2
2.2 Physical Dimensions, 64-PIN TQFP
Package
All dimensions are in millimeters.
Figure 2-1:
64-Pin TQFP
Physical
Dimensions
Notes:
1Juno IC is RoHS compliant and free of Bromine and Antimony based flame retardants.
2Moisture sensitive level: MSL 3

Functional Characteristics
16 Juno Step Motor Control IC User Guide
2
2.3 Physical Dimensions, 56-PIN VQFN
Package
Figure 2-2:
56-Pin VQFN
Physical
Dimensions
Notes:
1Juno IC is RoHS compliant and free of Bromine and Antimony based flame retardants.
2Moisture sensitive level: MSL 3
Thermal
Pad
5.4
5.2
Pin #1
Indicator
SQ
5.3
5.1
0.40
0.25
0.15
0.60
0.40
7.15
6.85 SQ
Bottom
View
1.0
0.8
0.20
Seating
Plane
0.05
0.00
114
15
28
2942
43
56
Front
View
42
28
15
141
58
43
29
Pin #1
Indicator

Functional Characteristics
Juno Step Motor Control IC User Guide 17
2
2.4 Absolute Maximum Environmental
and Electrical Ratings
1
(1) Unless otherwise noted, all voltages are with respect to GND
(2) Please refer to “Design tips” section for more information
Supply voltage (Vcc) -0.3V to +4.6V
FltCap pin voltage range -0.3V to 2.5V
Analog voltage range with respect to AnalogGND (AnalogVcc) -0.3V to +4.6V
Input voltage (Vi) -0.3V to +4.6V
Output voltage (Vo) -0.3V to +4.6V
Input clamp current (Ii,clamp), peak: +/-20 mA
Input clamp current (Ii,clcontinuous: +/-2 mA
Output clamp current (Io,clamp) +/-20 mA
Package thermal impedance, 64-pin TQFP package (JA)56.5°C/W
Package thermal impedance, 56-pin VQFN package (JA)34.8°C/W
Junction temperature range (Tj)
(2)
-40°C to 150°C
Storage temperature range (Ts) -65°C to 150°C
Nominal clock frequency (Fclkin) 10.0 MHz

Functional Characteristics
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Juno Step Motor Control IC User Guide 19
3
3.Electrical Characteristics
In This Chapter
DC Characteristics for MC74113, MC74113N, MC75113, MC75113N ICs
AC Characteristics
3.1 DC Characteristics
(Vcc and Ta per operating ratings, Fclkin=10.0MHz)
Symbol Parameter Minimum Maximum Conditions
Vcc Supply voltage 2.97V 3.63V With respect to GND
Idd Supply current 115 mA All I/O pins are floating
AnalogVcc Analog input supply voltage 2.97V 3.63V With respect to
AnalogGND
AnalogIdd Analog supply current 18 mA
TaOperating free-air temperature -40°C 105°C Note 2
TjOperating junction temperature -40°C 150°C
Input Voltage
Vih Logic 1 input voltage 2.0V Vcc+0.3V
Vil Logic 0 input voltage -0.3V 0.8V
Output Voltage
Voh Logic 1 Output Voltage 2.4V Io=-4 mA
Vcc-0.2V Io=-50 μA
Vol Logic 0 Output Voltage 0.4V Io=4 mA
Other
Iout Tri-state output leakage current -2 μA2μAVo=0 or Vcc
Iin Input current 2 μA -205 μAVcc=3.3V with internal
pullup
Iin,~RESET Input current for ~RESET pin 2 μA -375 μAVcc=3.3V
CiInput capacitance 2 pF typical
Vfltcap FltCap voltage 1.9V typical
Vreset Vcc BOR trip point 2.50V 2.96V Falling Vcc
Vreset,hys Vcc BOR hysteresis 35 mV typical
Treset BOR reset release delay time 400 μs800μsTime from removing reset
to ~RESET release
Analog Input

Electrical Characteristics
20 Juno Step Motor Control IC User Guide
3
Notes:
(1) Vcc and AnalogVcc should be within 0.3V from each other.
(2) Please refer to design tips in the Application Notes of this manual for thermal design considerations.
3.2 AC Characteristics
Refer to Chapter 4, Timing Diagrams, for timing diagrams.
3.2.1 Quadrature Encoder Input
Notes:
(1) ~Index is defaulted as active low, which is shown here. It can be configured to be active high.
Vanalog Analog input voltage range 0 3.3V With respect to
AnalogGND
Cai Analog input capacitance 5 pF typical
Ednl Differential nonlinearity error.
Difference between the step width
and the ideal value. No missing
codes.
-1 1 LSB
Einl Integral nonlinearity error.
Maximum deviation from the best
straight line through the ADC
transfer characteristics, excluding
the quantization error.
-4 4 LSB
Ezo Zero-offset error -4 4 LSB
Timing Interval No. Min Max
Encoder pulse width T4 33.3 nSec
Dwell time per state T5 16.7 nSec
~Index active pulse time T6 33.3 nSec
Symbol Parameter Minimum Maximum Conditions