PMD Atlas Compact Use and care manual

Performance Motion Devices, Inc.
1 Technology Park Drive
Westford, MA 01886
Atlas®Digital Amplifier
Complete Technical Reference
Revision 2.0 February, 2017

ii Atlas®Digital Amplifier Complete Technical Reference
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 maybe
reproduced or transmitted in any form, byany means, electronic or mechanical, for any purpose, without the
express written permission of PMD.
Copyright 1998–2017 by Performance Motion Devices, Inc.
Atlas,Magellan, ION, Magellan/ION, Juno, Pro-Motion, C-Motion and VB-Motion are registered trademarks of
Performance Motion Devices, Inc.

iii
Warranty
PMD warrants that its products shall substantially comply with the specifications applicable at the time of sale,
provided that this warranty does not extend to any use of any PMD product in an Unauthorized Application (as
defined below). Except as specifically provided in this paragraph, each PMD product is provided “as is” and without
warranty of any type, including without limitation implied warranties of merchantability and fitness for any particular
purpose.
PMD reserves the right to modify its products, and to discontinue any product or service, without notice and advises
customers to obtain the latest version of relevant information (including without limitation product specifications)
before placing orders to verify the performance capabilities of the products being purchased. All products are sold
subject to the terms and conditions of sale supplied at the time of order acknowledgment, including those pertaining
to warranty, patent infringement and limitation of liability.
Unauthorized Applications
PMD products are not designed, approved or warranted for use in any application where failure of the PMD product
could result in death, personal injury or significant property or environmental damage (each, an “Unauthorized
Application”). By way of example and not limitation, a life support system, an aircraft control system and a motor
vehicle control system would all be considered “Unauthorized Applications” and use of a PMD product in such a
system would not be warranted or approved by PMD.
By using any PMD product in connection with an Unauthorized Application, the customer agrees to defend,
indemnify and hold harmless PMD,its officers, directors, employees and agents, from and against any and all claims,
losses, liabilities, damages, costs and expenses, including without limitation reasonable attorneys’ fees, (collectively,
“Damages”) arising out of or relating to such use,including without limitation any Damages arising out of the failure
of the PMD product to conform to specifications.
In order to minimize risks associated with the customer’sapplications, 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’spublication of information regarding any third party’s products or
services does not constitute PMD’s approval, warranty or endorsement thereof.
Atlas®Digital Amplifier Complete Technical Reference

iv Atlas®Digital Amplifier Complete Technical Reference
Related Documents
Atlas®Digital Amplifier User’s Manual
Description of the Atlas Digital Amplifier electrical and mechanical specifications along with a summary of
its operational features.
Magellan®Motion Control IC User’s Guide
Complete description of the Magellan Motion Control IC features and functions with detailed theory of
operations.
Magellan Motion Control Developer’s Kit User’s Manuals
How to install, configure, and operate the DK58000 series, DK55000 series, and MC58113 series Magellan
Motion Control IC Developer’s Kits.
Pro-Motion®User’s Guide
User’s guide to Pro-Motion, the easy-to-use motion system development tool and performance optimizer.
Pro-Motion is a sophisticated, easy-to-use program which allows all motion parameters to be set and/or
viewed, and allows all features to be exercised.

Atlas®Digital Amplifier Complete Technical Reference v
Table of Contents
1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Atlas Digital Amplifier Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Features and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4 Atlas Developer’s Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2. Functional Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Operational Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Mechanical Mounting Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3. Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1 Drive Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 Environmental Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Safety and Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.5 DC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.6 AC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.7 Pin Descriptions and Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.8 Signal Interfacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.9 Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.10 Heat Sink Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.11 Atlas Conversion Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1 Functional Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.3 Notes on Command Mnemonics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.4 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.5 Current Loop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.6 Power Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.7 Status Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.8 Safety Processing Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.9 Step Motor Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.10 User Memory Space & Buffers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.11 Trace Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.12 Power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.13 Non-Volatile (NVRAM) Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.14 Writing and Reading NVRAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.15 SPI Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5. SPI Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.1 SPI Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.2 Packet Header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5.3 Sending a Voltage or Torque Output Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.4 Sending an Amplifier Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.5 Sending a NOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.6 Sending Atlas Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

vi Atlas®Digital Amplifier Complete Technical Reference
6. Instruction Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
A. Atlas Developer’s Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
A.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
A.2 Installation and Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
A.3 Atlas Carrier Card Reference Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
A.4 L-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
B. Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
B.1 Brushless DC Atlas with Single-Axis MC58113 Motion Control IC. . . . . . . . . 167
B.2 DC Brush & Step Motor Atlas with Multi-Axis Magellan . . . . . . . . . . . . . . . . . . 170
B.3 Step Motor Atlas Operating In Pulse & Direction Mode . . . . . . . . . . . . . . . . . . 172
B.4 DC Brush Atlas with PIC Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
B.5 Step Motor Atlas with ARM Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
B.6 Atlas Interfacing Via a Daughter Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
B.7 Multi-Motor Atlas with Single-Axis MC58113 Motion Control IC . . . . . . . . . 182

Atlas®Digital Amplifier Complete Technical Reference vii
List of Figures
1-1 Single Axis Magellan With Atlas Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1-2 Multi Axis Magellan With Atlas Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-3 Direct Host Microprocessor With Atlas Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-4 Direct Host Microprocessor With Atlas Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1-5 Atlas Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1-6 Developer Kit Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2-1 Vertical Unit - Ultra Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-2 Horizontal Unit - Ultra Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-3 Vertical Unit - Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2-4 Horizontal Unit - Compact Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2-5 Horizontal & Vertical Unit Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2-6 Recommended Atlas Unit Thermal Transfer Material Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2-7 Atlas Torque Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3-1 Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3-2 Atlas Pinouts - Ultra Compact, Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3-3 Atlas Pinouts - Ultra Compact, Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3-4 Atlas Pinouts - Compact, Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3-5 Atlas Pinouts - Compact, Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3-6 Signal Interfacing ~Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-7 Signal Interfacing FaultOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-8 Brushless DC Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3-9 DC Brush Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3-10 Step Motor Pulse and Direction Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3-11 Step Motor SPI Communication Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4-1 High Level System Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4-2 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4-3 Commutation Control Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4-4 Phasing Reference Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4-5 Current Loop Control Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4-6 Individual Phase Control Calculation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4-7 Field Oriented Control Calculation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4-8 Third Leg Floating Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4-9 Power Stage Control Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4-10 Current Foldback Processing Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4-11 Pulse and Direction Signal Input Mode Control Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4-12 User Memory Space and Buffers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4-13 Example Motion Trace Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4-14 Trace Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4-15 High-Level Format of a PSF (PMD Structured Data Format) Memory Space . . . . . . . . . . . . . . . . . . . 75
4-16 PSF Data Segment Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4-17 Initialization Commands Segment Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4-18 Parameter List Segment Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4-19 Format of Parameter Assignment Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4-20 Example PSF Memory Space Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4-21 SPI Communications Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4-22 Sending a Voltage or Torque Output Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5-1 SPI Communications Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5-2 Sending a Voltage or Torque Output Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5-3 Amplifier Disable Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

viii Atlas®Digital Amplifier Complete Technical Reference
5-4 NOP Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5-5 Send Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5-6 Query Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
A-1 Developer Kit Components (four-axis version shown) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
A-2 Connecting DB9 Cable to Carrier Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
A-3 Component Placement of Vertical and Horizontal DK Carrier Cards (four-axis version shown) 158
A-4 Vertical Unit Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
A-5 Horizontal Unit Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
A-6 Vertical and Horizontal Compact to Ultra Compact Package Signal Converters . . . . . . . . . . . . . . 163
A-7 Mounting Atlas to L-bracket Plates (four-axis, vertical version shown) . . . . . . . . . . . . . . . . . . . . . . . 165
A-8 Top and Front Views of Four-Axis Horizontal Atlas DK L-bracket Vertical Plate . . . . . . . . . . . . . . . 166
A-9 Top and Front Views of One-Axis Horizontal Atlas DK L-bracket Vertical Plate . . . . . . . . . . . . . . . . 166
B-1 Brushless DC Atlas With Single-Axis Magellan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
B-2 DC Brush & Step Motor Atlas With Multi-Axis Magellan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
B-3 Step Motor Atlas Operating In Pulse & Direction Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
B-4 DC Brush Atlas With PIC Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
B-5 Step Motor Atlas With ARM Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
B-6 Atlas Interfacing Via A Daughter Card #1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
B-7 Atlas Interfacing Via A Daughter Card #2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
B-8 Multi-motor Atlas With MC58113 Motion Control IC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Atlas®Digital Amplifier Complete Technical Reference 9
1
1.Introduction
In This Chapter
Atlas Digital Amplifier Overview
Typical Applications
Features and Functions
Atlas Developer’s Kits
1.1 Atlas Digital Amplifier Overview
Atlas Digital Amplifiers are single-axis amplifiers that provide high performance torque control of brushless DC, step
motor, and DC Brush motors. They accept digital torque commands from an external source and are used directly for
motor torque control applications, or in conjunction with higher level controllers for velocity or positioning applications.
Their very compact size and range of power output levels make them an ideal solution for single-card machine
controllers that require high performance in a small envelope.
Atlas digital amplifiers provide many advanced control features including user-programmable gain parameters,
performance trace, field oriented control, and I
2
t current management. Atlas amplifiers are powered from a single supply
voltage, and provide automatic protection from overcurrent, undervoltage, overvoltage, overtemperature, and short
circuit faults.
The Atlas digital amplifier family has been designed to work seamlessly with PMD’s Magellan family of motion control
ICs. Alternatively, they can be used with dedicated FPGAs, digital signal processors, or general purpose microprocessors.
Communication to/from Atlas amplifiers is via SPI (Serial Peripheral Interface) using a simple, packet-oriented
protocol. For step motors, in addition to the SPI format a dedicated pulse & direction input mode is provided.
Atlas amplifiers are packaged in plastic and metal solderable modules and are available in an ultra compact package size
with a total footprint of 1.4 inch
2
(9.0 cm
2
) and a compact package size with a footprint of 2.6 inch
2
(16.8 cm
2
). They
come in three power levels; 75 watts, 250 watts, and 500+ watts and utilize standard through-hole pins for all electrical
connections.
Atlas amplifiers are provided in both vertical and horizontal mounting configurations and have integral attachment tabs
to allow for a variety of mechanical mounting and heat sink options. The following table shows the available
configurations of the Atlas Digital Amplifiers:
P/N
Power Level
(continuous) Voltage Size
Mounting
Style Motor Type
Step Motor
MD241048/02VB Low (75W) 12-48V Ultra compact Vertical Step Motor
MD241048/02HB Low (75W) 12-48V Ultra compact Horizontal Step Motor
MD241048/05VB Medium (250W) 12-48V Ultra compact Vertical Step Motor
MD241048/05HB Medium (250W) 12-48V Ultra compact Horizontal Step Motor
MD141056/25VB High (500+W) 12-56V Compact Vertical Step Motor
MD141056/25HB High (500+W) 12-56V Compact Horizontal Step Motor

Introduction
10 Atlas®Digital Amplifier Complete Technical Reference
1
*Multi-motor motor type allows the Atlas to be configured by the user to drive either Step Motor,Brushless DC, or DC Brush motor type.
This manual provides a description of the electrical and mechanical specifications for the Atlas Digital Amplifiers,
along with a summary of its operational features. For complete documentation on all aspects of the Atlas Digital
Amplifier including a programmers command reference refer to Atlas® Digital Amplifier Complete Technical Reference.
For more information on the Magellan Motion Control IC consult the Magellan Motion Control IC User’sGuide.
1.2 Typical Applications
The following section provides overview diagrams of typical applications utilizing the Atlas amplifier products.
1.2.1 Single Axis Positioning Motion Controller
The diagram below shows a PMD MC58113 Motion Control IC sending torque commands to an Atlas Amplifier to
provide positioning control of a brushless DC, DC Brush, or Step Motor.
Figure 1-1:
Single Axis
Magellan With
Atlas Amplifier
Brushless DC
MD231048/02VB Low (75W) 12-48V Ultra compact Vertical Brushless DC
MD231048/02HB Low (75W) 12-48V Ultra compact Horizontal Brushless DC
MD231048/05VB Medium (250W) 12-48V Ultra compact Vertical Brushless DC
MD231048/05HB Medium (250W) 12-48V Ultra compact Horizontal Brushless DC
MD131056/25VB High (500+W) 12-56V Compact Vertical Brushless DC
MD131056/25HB High (500+W) 12-56V Compact Horizontal Brushless DC
DC Brush
MD211048/02VB Low (75W) 12-48V Ultra compact Vertical DC Brush
MD211048/02HB Low (75W) 12-48V Ultra compact Horizontal DC Brush
MD211048/05VB Medium (250W) 12-48V Ultra compact Vertical DC Brush
MD211048/05HB Medium (250W) 12-48V Ultra compact Horizontal DC Brush
MD111056/25VB High (500+W) 12-56V Compact Vertical DC Brush
MD111056/25HB High (500+W) 12-56V Compact Horizontal DC Brush
Multi-Motor
MD281048/02VB Low (75W) 12-48V Ultra compact Vertical Multi-motor*
MD281048/02HB Low (75W) 12-48V Ultra compact Horizontal Multi-motor*
MD281048/05VB Medium (250W) 12-48V Ultra compact Vertical Multi-motor*
MD281048/05HB Medium (250W) 12-48V Ultra compact Horizontal Multi-motor*
MD181056/25VB High (500+W) 12-56V Compact Vertical Multi-motor*
MD181056/25HB High (500+W) 12-56V Compact Horizontal Multi-motor*
Brushless DC,
DC Brush, or
Step Motor

Introduction
11
1
1.2.2 Multi Axis Positioning Motion Controller
The diagram below shows a PMD Magellan MC58000 series or MC55000 series multi-axis motion control IC being
used with two or more Atlas Amplifiers to provide control of brushless DC, DC Brush, or Step Motors in a
positioning application. If desired each axis can control a different motor type, so that, for example, brushless DC
motors can be used along with step motors in the same controller.
Figure 1-2:
Multi Axis
Magellan With
Atlas
Amplifiers
1.2.3 Microprocessor-Based Motion Controller
The diagram below shows the Atlas Amplifier being driven by a general purpose microprocessor that provides high
level path generation and servo loop closure and outputs continuous desired torque commands or desired position
increments for step motors to the Atlas Amplifier via the SPI (Serial Peripheral Interface).
Figure 1-3:
Direct Host
Microprocessor
With Atlas
Amplifiers
1.2.4 Stand Alone Step Motor Amplifier
The diagram below shows the Atlas Amplifier being directly driven by pulse &direction signals. These signals may
come from a microprocessor, a control card, or any other existing motion control device that outputs pulse & direction
signals. In this mode the Atlas unit operates ‘stand-alone,’ and utilizesconfiguration control parameters previously
stored into the Atlas unit’sNVRAM (non-volatile) memory.
Atlas®Digital Amplifier Complete Technical Reference
Brushless DC,
DC Brush, or
Step Motor
Brushless DC,
DC Brush, or
Step Motor
Brushless DC,
DC Brush, or
Step Motor

Introduction
12 Atlas®Digital Amplifier Complete Technical Reference
1
Figure 1-4:
Direct Host
Microprocessor
With Atlas
Amplifiers
There are a few options for configuring Atlas units for stand alone operation:
• Pro-Motion can be used with the Atlas Developer’s Kit to program Atlas units
•The user can develop their own NVRAM programming system byutilizing the SPI (Serial Peripheral
Interface) Atlas command protocol. For more information refer to the Atlas® Digital Amplifier
Complete Technical Reference.
•PMD offerscustom pre-configured Atlas units. For more information contact your local PMD sales
representative.
1.2.5 Force Control
The Brushless DC and DC Servo Atlas units can be used for general purpose force control applications such as remote
teleoperation, force feedback, solonoid actuation, and any other general purpose valve/actuator control where a
precisely controllable current is needed.
In this application the torque command may be sent continuously by the host microprocessor or from time to time as
required by the application. In either case the Atlas provides very accurate current/torque control resulting in smooth
and precise application of force.
Figure 1-5:
Atlas Force
Control
1.3 Features and Functions
The Atlas family of amplifiers provide an extensive list of functions, including:
• Available in Brushless DC, DC Brush, Step Motor, and multi-motor motor types
• High performance all-digital power amplifier
• Works with Magellan ICs, FPGAs or microprocessor-based controllers
• Digital SPI interface eliminates analog +/- 10V signals
• Available in 75W, 250W, and 500W+ power levels
• Rugged plastic solderable module format uses standard through-hole pins
• Total power output to 1Kilowatt
• Available in ultra compact 1.05" x 1.05" x .53" (27mm x 27mm x 13mm) size or compact 1.52" x 1.52"
x .60" (39mm x 39mm x 15mm) size
Step Motor

Introduction
Atlas®Digital Amplifier Complete Technical Reference 13
1
• Horizontal and vertical mount configurations
• Includes rugged mechanical tab mounts
• Supply voltage range of 12V up to 56V
• High current output up to 14A continuous, 25A peak
• Digital current loop with choice of standard A/B or Field Oriented Control (FOC)
• Direct signal pulse and direction input
•I
2
t current foldback limiting
• Overcurrent, overvoltage, undervoltage, overtemperature, and SPI command watchdog timeout
protection
•Single DC supply operation.
• Enable input and FaultOut output safety interlock signals
• SPI (Serial Peripheral Interface) up to 8 MHz
• Performance trace of up to 1,020 words and four simultaneous variables
• 1,024 word non-volatile parameter storage
• Microstepping control with up to 256 microsteps per full step
• Signal conditioning buffers and analog filters on all I/O signals
• Fully RoHS compliant and CE marked
1.4 Atlas Developer’s Kit
To simplify development, an Atlas Developer’s Kit is available, shown in Figure 1-6.

Introduction
14 Atlas®Digital Amplifier Complete Technical Reference
1
Figure 1-6:
Developer Kit
Components
The following software and hardware components are included in every Atlas Developer’s Kit:
• Pro-Motion CD and User’s Guide
• C-Motion and VB-Motion SDK CD, including PDFs of all Atlas documentation
• Atlas DK DB9 communications cable
For the following components, you will provide information that will specify how you want the DK tailored for your
exact development needs:
• Specific Atlas units to be included (motor type, power level)
• Atlas carrier card (horizontal or vertical, 1 or 4 axis version)
The carrier cards are designed for direct use with the compact Atlas format. For each ultra compact Atlas ordered a
converter card is provided that allows the ultra compact Atlas to be plugged into the compact carrier card socket
directly.
The L-bracket provides a stable mechanical base from which you can conveniently connect and operate your prototype
system motors. With the vertical plate, the Atlas units have additional heat sinking, which can be extended further by
connecting the vertical plate to your own heat sink or cold plate.
Electrical connection to the Atlas DK carrier card is made by DB9 connector, and by jack screw connectors. Designers
who plan to use the Atlas in conjunction with PMD’s Magellan Motion Control ICs can connect the Atlas DK to the
Magellan DK card, purchased separately. For more information on this product see one of the available Magellan
Motion Control IC developer’s kit user’s manuals.
Refer to Appendix A, “Atlas Developer’s Kit”for complete information on ordering, setting up and operating the
Atlas DK.
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Atlas®Digital Amplifier Complete Technical Reference 15
2
2.Functional Characteristics
In This Chapter
Operational Specifications
Physical Dimensions
Mechanical Mounting Options
2.1 Operational Specifications
Operating Parameter Value
Motor types supported: Brushless DC, DC Servo, Step Motor
Communication format: SPI (Serial Peripheral Interface)
SPI clock frequency range: 2.0 MHz to 8.0 MHz
Torque command rate: up to 9.7 kHz
Current measurement resolution: 12 bits
Current loop type: P, I (proportional, integral) with Integral limit
Current loop resolution: 16 bits
Current loop rate: 19.530 kHz
Current loop modes: individual phase, field oriented control, third leg floating
Safety functions: over current detect, programmable over temperature
detect, programmable overvoltage detect, programmable
under voltage detect, programmable I
2
t current foldback,
SPI command watchdog timeout
Output limiting: Programmable I
2
t energy, current, and voltage limit
Command modes: SPI voltage, SPI torque, pulse & direction signal
PWM rate: 20 kHz, 40 kHz, 80 kHz, or 120 kHz
PWM generation modes: sinusoidal, space vector modulation, standard single-phase
Pulse & direction rate: 1.0 M Pulses/sec
Microsteps per full step: up 256 per full step
Trace capture modes: one time, rolling-buffer
Trace trigger modes: internal clock, external by controller
Trace buffer size: 1,020 16-bit words
NVRAM storage size: 1,024 16-bit words

Functional Characteristics
16 Atlas®Digital Amplifier Complete Technical Reference
2
2.2 Physical Dimensions
2.2.1 Vertical Unit, Ultra Compact Package
Figure 2-1:
Vertical Unit -
Ultra Compact
Package
2.2.2 Horizontal Unit, Ultra Compact Package
Figure 2-2:
Horizontal Unit
- Ultra Compact
Package

Functional Characteristics
Atlas®Digital Amplifier Complete Technical Reference 17
2
2.2.3 Vertical Unit, Compact Package
Figure 2-3:
Vertical Unit -
Compact
Package
2.2.4 Horizontal Unit, Compact Package
Figure 2-4:
Horizontal Unit
- Compact
Package
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Functional Characteristics
18 Atlas®Digital Amplifier Complete Technical Reference
2
2.3 Mechanical Mounting Options
Atlas amplifiers are provided in two separate package sizes, ultra compact and compact, and in two separate mounting
configurations; vertical and horizontal. There are some very low power applications where the Atlas unit may be
mounted without mechanical attachment to the screw tabs. In such cases mechanical attachment to the PCB occurs
via the electrical solder connections.
Most applications however will utilize the Atlas unit’s integral screw tab mounts to rigidly connect the Atlas to the
PCB, to a heat sink, or to some other mechanical support. As shown in Figure 2-5 there are a number of Atlas
mounting options available when using the Atlas screw tabs. The choice of the mounting hardware depends on the
demands of the application.
The following table provides information related to the mechanical screw tab mounts:
Atlas Package
Recommended
screw type
Maximum
screw head
diameter
Maximum
screw body
diameter
Ultra Compact M2.0 4.2 mm 2.2 mm
Compact M2.5 5.4 mm 2.8 mm

Functional Characteristics
19
2
Figure 2-5:
Horizontal &
Vertical Unit
Mounting
Options
2.3.1 Mounting Guidelines
Atlas amplifiers, while designed to be robust and easy to install, contain active electronics that can only function
reliably when the mechanical integrity and operating environment of the Atlas is maintained. The nextthree sections
Atlas®Digital Amplifier Complete Technical Reference
SCREWS (M2.0 or M2.5)
HEX NUT (M2.0 or M2.5)
STANDOFF
STANDOFF
HEAT SINK
HEAT SINK
SCREWS (M2.0 or M2.5)
HEX NUT (M2.0 or M2.5)
STANDOFF
STANDOFF
Vertical Unit, Mechanical Mount to Support/Cold Plate
SCREWS (M2.0 or M2.5)
SUPPORT/COLD
PLATE
SCREWS (M2.0 or M2.5)
Horizontal Unit, Mechanical Mount to Support/Cold Plate
Horizontal Unit, Mechanical Mount Through Heat Sink to PCB
THERMAL
TRANSFER
MATERIAL
THERMAL
TRANSFER
MATERIAL
THERMAL
TRANSFER
MATERIAL
THERMAL
TRANSFER
MATERIAL
SUPPORT/COLD
PLATE
BA
DC
Horizontal Unit, Mechanical Mount to PCB

Functional Characteristics
20 Atlas®Digital Amplifier Complete Technical Reference
2
provide important recommendations and guidelines for the configuration, selection, placement, mounting method,
and installation procedure for Atlas amplifiers.
Choice of vertical or horizontal Atlas. The horizontal configuration of Atlas is recommended for applications where the
Atlas is not mechanically mated to a supporting plate and where vibration or movement-related forces may be present.
When the Atlas unit is mechanically mated to a supporting plate, either the horizontal or the vertical configuration
may be used. Figure 2-5C and Figure 2-5D show the Atlas unit mechanically mated to a supporting plate.
Attaching Atlas to a supporting plate. Some Atlas applications will utilize a supporting plate for heat removal or for
enhanced mechanical stability. For Atlas installations that may be subject to vibration or movement-related forces and
that utilize a supporting plate, special care should be taken to insure that there is no movement between the circuit
card that the Atlas is soldered or socketed to and the supporting plate which the Atlas is mechanically attached to. Such
movement could result in damage to the Atlas unit, the circuit card, or the supporting plate.
Attaching Atlas to a free-standing heatsink. Some Atlas applications will utilize a free standing heat sink, such as is shown
in Figure 2-5A and Figure 2-5B. Free standing heat sinks are recommended with horizontal Atlas units but are not
recommended for use with vertical Atlas units. When mounting Atlas units with free standing heat sinks special care
should be taken where vibration or movement-related forces may be present. These forces, acting on the additional
mass of the heat sink, may impart excessive mechanical stress on the Atlas resulting in damage to the Atlas unit, the
circuit card, or the heat sink. Depending on the nature and magnitude of the forces, in these applications mounting
the Atlas to a supporting plate may be preferred.
Choice of socket or solder connection to the circuit card. For best electrical contact to the printed circuit board (PCB),
connection by soldering to the Atlas is generally recommended. This is particularly true for Atlas units that are not
mated to a supporting plate. When the Atlas unit is mounted to a supporting plate either solder or socket electrical
connections may be used, with solder connections recommended for applications benefitting from rigid connection
of the Atlas to the PCB, and sockets being recommended when greater mechanical isolation of the PCB from the
mechanical support is desired.
2.3.2 Thermal Transfer Materials
Thermal transfer materials in the form of thermal tape, pads, paste, or epoxy may be used to improve thermal transfer
between the Atlas’ metal plate and an attached heat sink or supporting plate. These materials improve thermal
conductivity by filling in air gaps that form when two metallic surfaces are mated.
Figure 2-5 shows a typical application of a thermal transfer material between the Atlas and a heat-removing metal
surface. The following guidelines may be helpful in selecting and sizing the thermal transfer material best-suited to
your application.
The capacity of thermal transfer materials to transfer heat (known as the bulk conductivity) is much lower than that
of metals such as aluminum or copper. Therefore, in general, the thinner the transfer material the better. Thickness of
the material is only precisely controllable for thermal pads and thermal tapes, with thermal pads providing the thinnest
available interfaces beginning at 5 mils (.127 mm) or even less. For use with Atlas amplifiers thermal transfer materials
that are thicker than 40 mils (1.0 mm) are not recommended regardless of the material used.
When using thermal paste or thermal epoxy glue the thickness should be carefully controlled via a silk screen or other
wet film application process. The Atlas unit itself should not be used to squeeze non-uniformly applied paste or epoxy
flat during installation. Doing so may result in damage to the Atlas.
Some of the electrical ratings of the Atlas may not be achievable when electrical connection to the Atlas is via
sockets rather than via soldering. It is the responsibility of the user to determine whether a particular motor out-
put current and voltage rating may be achieved with a given socket.