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