PMD MC73110 User manual

Performance Motion Devices, Inc.
80 Central Street
Boxborough, MA 01719
Revision 2.4, October 2008
MC73110
Advanced 3-Phase Motor Control IC
Product Manual
MC73110 Product Manual

ii MC73110 Product Manual
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 PMD.
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, by any means, electronic or mechanical, for any purpose, without the express
written permission of PMD.
Copyright 1998–2008 by Performance Motion Devices, Inc.
Magellan, ION, Magellan/ION, Pro-Motion, Pro-Motor, C-Motion, and VB-Motion are trademarks of Perfor-
mance Motion Devices, Inc.

MC73110 Product Manual iii
Warranty
PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with
PMD’s standard warranty. Testing and other quality control techniques are utilized to the extent PMD deems necessary
to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those
mandated by government requirements.
Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to discontinue any
product or service without notice, and advises customers to obtain the latest version of relevant information to verify,
before placing orders, that information being relied on is current and complete. All products are sold subject to the
terms and conditions of sale supplied at the time of order acknowledgement, including those pertaining to warranty,
patent infringement, and limitation of liability.
Safety Notice
Certain applications using semiconductor products may involve potential risks of death, personal injury, or severe
property or environmental damage. Products are not designed, authorized, or warranted to be suitable for use in life
support devices or systems or other critical applications. Inclusion of PMD products in such applications is under-
stood to be fully at the customer's risk.
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
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 in-
tellectual 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’s publication of information regarding any third party’s products or services
does not constitute PMD’s approval, warranty or endorsement thereof.

iv MC73110 Product Manual
Related Documents
MC73110 Advanced 3-Phase Motor Control IC Developer’s Kit Manual
This document guides you through installation and operation of the MC73110 Developer’s Kit.
It describes the developer’s kit card and software, and provides complete schematics for the card.

MC73110 Product Manual v
Table of Contents
Chapter 1. Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 2. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.1 Configurations, Parameters, and Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Physical Characteristics and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 3. Electrical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1 Absolute Maximum Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Recommended Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3 AC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4 Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.6 Phase Lock Loop (PLL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Chapter 4. Theory of Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.1 Functional Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 Connection Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.4 Control Loop Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.5 Motor Output and Signal Generation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.6 Current Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.7 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.8 Field Oriented Control (FOC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.9 Velocity Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.10 Velocity Integrator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.11 Profile Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.12 Loop Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.13 Status Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.14 Programmable Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.15 Temperature Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.16 Bus Voltage Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.17 Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.18 Incremental Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.19 Serial EEPROM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.20 Synchronous Serial Input (SPI Port). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.21 Analog Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.22 GetLoop Commands and Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Chapter 5. Instruction Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.1 How to Use This Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

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MC73110 Product Manual vii
List of Figures
2-1 MC73110 physical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
3-1 MC73110 Clock timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
3-2 MC73110 Quad encoder timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
3-3 MC73110 Reset timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
3-4 MC73110 SPI timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
3-5 MC73110 chip pin layout and descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
3-6 PLL circuitry design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
4-1 MC73110 internal block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
4-2 With an external motion controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
4-3 As a complete intelligent motion controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
4-4 Control loop flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
4-5 Configuration for a torque-mode amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
4-6 Configuration for a velocity-mode amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
4-7 Intelligent motion controller configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
4-8 PWM waveforms and currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
4-9 Six-signal mode with dead time delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
4-10 Motor current sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
4-11 Sinusoidal commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
4-12 Motor command phasing vs. Hall sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
4-13 FOC current control flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
4-14 Velocity feedback and scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
4-15 Velocity integrator source select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
4-16 Typical velocity profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
4-17 Typical data frame format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
4-18 QuadA, QuadB, and Index signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
4-19 The current loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
4-20 The velocity loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
4-21 The velocity integrator loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65

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MC73110 Product Manual 9
1
1.Product Overview
The MC73110 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent three-phase brushless
DC motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of
feedback signals. It can be operated in voltage, torque, or velocity modes. The MC73110 also supports standalone
operation for use with PMD’s motion processors, other off-the-shelf servo controllers, or via a serial port.
Navigator/Pilot-family Motion Processors provide programmable chip-based positioning control for DC brush,
brushless DC, microstepping, and pulse & direction motors. They are available in 1-, 2-, and 4-axis configurations, and
in both single-chip and dual-IC chipset configurations.
Magellan Motion Processors are state-of-the-art programmable chip-based positioning controllers for DC brush,
brushless DC, microstepping, and pulse & direction motors. They are similar to the Navigator Motion Processors, but
provide increased capabilities including faster loop rate, CANBus communications, software-selectable motor type,
and direct SPI bus output for serial DACs. They are available in 1-, 2-, 3-, and 4-axis configurations, and in both single-
chip and dual-IC chipset configurations.
Magellan PCI and PC/104-bus motion cards are high performance general purpose motion cards for controlling
DC brush, brushless DC, microstepping, and pulse & direction motors. Utilizing PMD’s Magellan Motion Processors,
these products are available in 1-, 2-, 3-, and 4-axis configurations and have advanced features such as 16-bit D/A
analog output, and on-board high-speed performance tracing.
MC73110
Motor
Control IC
Navigator/
Pilot Magellan
Motion
Cards
ION
Digital Drive
Number of axes 1 1, 2, 4 1, 2, 3, 4 1, 2, 3, 4 1
Package 64-pin TQFP 132-pin PQFP
100-pin PQFP
144-pin LQFP
100-pin LQFP
PCI
PC/104
Fully enclosed module
Voltage 3.3V 5V 3.3V 3V 12–56V
Function Velocity control
Torque control
Commutation
Encoder input
Position control
Encoder input
Profile generation
Commutation
Position control
Encoder input
Profile generation
Commutation
Network
communications
Multi-motor
Position control
Encoder input
Profile generation
Commutation
Signal conditioning
Analog output
Trace buffer
Position control
Profile generation
Commutaion
Network
communications
Field oriented control
Torque/current control
Trace buffer
MOSFET amplifier
Motor types Brushless DC DC brush
Brushless DC
Microstepping
Pulse & direction
DC brush
Brushless DC
Microstepping
Pulse & direction
DC brush
Brushless DC
Microstepping
Pulse & direction
DC brush
Brushless DC
Microstepping
Communication Standalone
Serial
Parallel
Serial point-to-
point
Serial multi-drop
Parallel
Serial point-to-
point
Serial multi-drop
CANbus
PCI, PC104 CANbus
RS232/485
Loop rate 20 kHz 100–150 µSec/
axis
50–75 µSec/axis 50–75 µSec/axis 20kHz

Product Overview
10 MC73110 Product Manual
1
ION Digital Drives are compact, fully enclosed modules that provide high performance motion control, network
connectivity, and power amplification for DC brush, brushless DC or step motors. Using advanced MOSFETs and
surface mount technology, ION drives provide very high power density in a rugged, flexible form factor. They
perform profile generation, servo compensation, stall detection, field oriented control, digital torque control and many
other motion control functions. These single-axis drives are based on the Magellan Motion Processor and provide
CANbus or serial communications.

MC73110 Product Manual 11
2
2.Specifications
In This Chapter
 Configurations, Parameters, and Performance
 Physical Characteristics and Mounting Dimensions
2.1 Configurations, Parameters, and
Performance
Available configurations 1 axis (MC73110)
Motors supported 3-phase brushless DC
Motor output modes 6-signal high/low digital outputs with dead time protection
3-signal digital outputs
Commutation modes 6-step (with Hall sensors)
Sinusoidal (with Hall sensors and quadrature encoder input)
FOC (with Hall sensors or Hall sensors and quadrature encoder input)
Current loop rate 20 kHz (19.53 kHz)
Commutation rate 20 kHz (19.53 kHz)
Velocity loop rate 10 kHz (9.766 kHz)
Operating modes Standalone using serial EEPROM boot or on-board Flash for configuration upload,
serial-command-mode (commands sent by host processor)
Serial communication Point-to-point asynchronous
modes Multi-drop asynchronous
Serial baud rate range 1,200 to 460,800
Programmable profile
parameters
Velocity (32-bit resolution)
Acceleration (32-bit resolution)
Current feedback Two analog signals (10-bit A/D internal resolution)
Velocity feedback One analog tachometer signal (10-bit A/D internal resolution), quadrature encoder, or
Halls
Velocity/torque/voltage From analog signal (10-bit A/D internal resolution)
command options From digital SPI datastream (16-bit resolution)
From serial port (live commands from host processor)
Bus voltage monitor From analog signal(10-bit A/D internal resolution)
Temp sensor I/O I2C bus
Serial EEPROM I/O I2C bus
SPI input format 16-bit binary-encoded word
SPI input rate 10 MHz (1.6 μsec total transmission time)
Input signals EStop
HallA –Hall C
PWMOutputDisable
Output signals AmplifierDisable
Quadrature input signals A, B, Index
Max quadrature input rate 10 MCounts/sec
PWM resolution 10 bits @ 20 kHz (19.53 kHz)
9 bits @ 40 kHz (39.06 kHz)

Specifications
12 MC73110 Product Manual
2
2.2 Physical Characteristics and
Mounting Dimensions
All dimensions are in millimeters.
Figure 2-1:
MC73110
physical
dimensions
PWM output method Symmetric 3-phase
Internal A to D resolution 10-bit

MC73110 Product Manual 13
3
3.Electrical Specifications
In This Chapter
 Absolute Maximum Ratings
 Recommended Operating Conditions
 AC Characteristics
 Timing Diagrams
 Pin Descriptions
 Phase Lock Loop
3.1 Absolute Maximum Ratings
3.2 Recommended Operating
Conditions
(Vcc and Ta per operating ratings, either standard or extended temperature, Fclk = 10.0 MHz)
Parameter Rating
Supply Voltage Limits (Vcc, PLLVcc)–0.3V to +4.6V
Vccp Range –0.3V to 5.5V
Input/Output Voltage (Vi)–0.3V to +4.6V
Operating Temperature: extended (Ta) –40°C to 125°C
Package Thermal Impedance, 0 JA (Junction-to-ambient) 42° C/W
Free-air Temperature Range: Standard (Ta) –40°C to 85°C
Free-air Temperature Range: Extended (Ta) –40°C to 125°C
Junction Temperature Range: (Tj )–40°C to 150°C
Storage Temperature (Ts) –65°C to 150°C
Symbol Parameter Minimum Maximum Conditions
Vcc Supply Voltage 3.00V 3.6V
Vccp Vccp Supply Voltage 4.75V 5.25V
Idd Supply Current 120 mA all I/O pins floating
Fclk Clock Frequency 10.0 MHz Nominal

Electrical Specifications
14 MC73110 Product Manual
3
3.2.1 Input Voltages
3.2.2 Output Voltages
3.2.3 Currents and Capacitance
3.2.4 Analog Input
3.3 AC Characteristics
See timing diagrams on the opposite page for Tnnumbers. The symbol “~” indicates active low signal.
Symbol Parameter Minimum Maximum Conditions
Vih Logic 1 Input Voltage 2.0V Vcc + 0.3V
Vil Logic 0 Input Voltage 0.8V
Symbol Parameter Minimum Maximum Conditions
Voh Logic 1 Output Voltage 2.4V Vcc Io = –2 mA
Vol Logic 0 Output Voltage 0.4V Io = 2 mA
Symbol Parameter Minimum Maximum Conditions
Iin Input Current –30 µA 2 µA Vin = 0 or Vcc
Iout Tri-state Output Leakage Current –2 µA 2 µA Vin = 0 or Vcc
Cio Input/Output Capacitance 2/3 pF typical
Ivccp Vccp Input Current 15 mA
Symbol Parameter Minimum Maximum Conditions
AnalogVcc Analog Supply Voltage 3.0V 3.6V The difference between
AnalogVcc and Vcc should
be less than 0.3V.
IaAnalog Supply Current 22 mA
Irefhi Vrefhi Input Current 1.5 mA
Zai Analog Input Source Impedance 700 Ohms
Cai Analog Input Capacitance 30 pF typical
Ezo Zero-offset Error ±2 LSB typical
Ednl Differential Nonlinearity Error ±2 LSB
Difference Between the Step Width
and the Ideal Value
Einl Integral Nonlinearity Error ±2 LSB
Maximum Deviation from the Best
Straight Line through the A/D
Transfer Characteristics,
Excluding the Quantization Error
Timing interval TnMinimum Maximum
Clock frequency (Fclk)4MHz
10 MHza

Electrical Specifications
MC73110 Product Manual 15
3
3.4 Timing Diagrams
Figure 3-1:
MC73110
Clock timing
diagram
Figure 3-2:
MC73110 Quad
encoder timing
diagram
Clock period bT2 100 nsec 250 nsec
Encoder pulse width T3 150 nsec
Dwell time per state T4 75 nsec
Index setup and hold T5 0 nsec
Reset low pulse width T6 1.0 µsec
Device ready/outputs initialized T7 1 µsec
Clock High T8 40 nsec
Data Hold T9 50 nsec
Data Setup T10 0 nsec
Clock Rise/Fall T11 10 nsec
Clock Period T12 100 nsec
a. Performance figures and timing information valid at Fclk = 10.0 MHz only. For timing infor-
mation and performance parameters at Fclk < 10.0 MHz, contact PMD.
b. The clock low/high split has an allowable range of 40–60%.
Timing interval TnMinimum Maximum
T1
ClockIn
T1 T2
T3 T3
T4 T4
Quad A
Quad B

Electrical Specifications
16 MC73110 Product Manual
3
Figure 3-3:
MC73110
Reset timing
diagram
Figure 3-4:
MC73110 SPI
timing diagram
Vcc
ClockIn
~RESET
T6 T7

Electrical Specifications
MC73110 Product Manual 17
3
3.5 Pin Descriptions
Figure 3-5:
MC73110 chip
pin layout and
descriptions
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
Hall3
PWMCLow
Gnd
Vcc
PWMCHigh/PWMC
PWMBLow
Gnd
Vcc
PWMBHigh/PWMB
PWMALow
PWMAHigh/PWMA
Vccp
Reserved/unused
Reserved/unused
I
2
CData
I
2
CClk
Reserved/unused
Reserved/unused
Reserved/unused
Reserved/unused
~Reset
Vcc
Gnd
Reserved/unused
ClockIn
AmplifierDisable
AnalogGnd
AnalogVcc
AnalogRefHigh
AnalogRefLo
CurrentA
CurrentB
CommunicationMode
~Index
QuadB
QuadA
Gnd
Vcc
Reserved/unused Reserved/unused
Gnd
Vcc
AnalogGnd AnalogGnd
BusVoltage
AnalogGnd
AnalogCmd
Tachometer
Reserved/unused DigitalCmdClk SrlEnable DigitalCmdData SrlRcv SrlXmt ~Estop Hall2 Hall1 PLLVcc Osc filter 2 Osc filter 1 ~PWMOutputDisable Vcc Gnd Reserved/unused
MC73110
Advanced 3-Phase
Motor Control IC

Electrical Specifications
18 MC73110 Product Manual
3
The functions of the MC73110’s pins are defined as follows:
Pin
Name
Pin
Number Direction Description
QuadA
QuadB
4
3
Input These digital signals provide the A and B quadrature input from the
QuadB incremental encoder. When the axis is moving in the positive
(forward) direction, signal A leads signal B by 90°. NOTE: Many
encoders require a pull-up resistor on these signals to
establish a proper high signal. Check your encoder’s electri-
cal specifications. If not used, these pins may be left uncon-
nected.
~Index 2 Input This digital signal provides the Index signal from the incremental
encoder. NOTE: Many encoders require a pullup resistor on
this signal to establish a proper high signal. Check your
encoder’s electrical specifications. If not used, this pin may
be left unconnected.
PWMAHigh/
PWMA
PWMALow
PWMBHigh/
PWMB
PWMBLow
PWMCHigh/
PWMC
PWMCLow
59
58
57
54
53
50
Output These digital signals provide the Pulse Width Modulated output for
each phase to the motor. In 6-signal mode, all 6 signals are used. In
3-signal mode, PWMAHigh, PWMBHigh, and PWMCHigh are used.
If not used, these pins may be left unconnected.
Hall1
Hall2
Hall3
40
41
49
Input These digital signals provide Hall sensor inputs.
~Estop 42 Input This digital signal provides an emergency stop signal that may be
used to stop motor output. Unless the default interpretation is
changed, an emergency stop condition occurs when this signal is
brought low. If not used, this pin may be left unconnected.
Tachometer 16 Input This analog signal provides optional analog feedback for the motor
velocity. After conditioning, this signal is commonly connected to
the motor’s tachometer. The allowed voltage range is AnalogRe-
fLow to AnalogRefHigh. If not used, this pin should be tied to
AnalogGND.
CurrentA
CurrentB
18
17
Input These analog signals provide the instantaneous current flowing
through coils A and B of the motor. These signals, after conditioning,
are commonly connected to the A&B motor coils through a drop-
ping resistor or Hall sensor. The allowed voltage range is AnalogRe-
fLow to AnalogRefHigh. If not used, this pin should be tied to
AnalogGND.
AnalogCmd 15 Input This analog signal provides a command value for either the desired
voltage, torque or velocity, depending on how the chip has been
programmed. The allowed voltage range is AnalogRefLow to
AnalogRefHigh. If not used, this pin should be tied to AnalogGND.
Bus Voltage 13 Input This analog signal provides the ability to monitor the Bus Voltage.
The allowed voltage range is AnalogRefLow to AnalogRefHigh. If not
used, this pin should be tied to AnalogGND.
Communication-
Mode
1 Input This digital signal should be tied low at all times through a 10K resis-
tor to the digital ground.
SrlEnable 46 Output This digital signal sets the serial port enable line. SerialEnable is
always high for the point-to-point communication mode, and is
strobed high during transmission for the multi-drop protocol.
I2CData 63 Bidirectional This digital signal and the I2CClk signal comprise an I2C bus used for
inputting amplifier temperature from an I2C compatible device, and/
or an I2C-compatible serial EEPROM device. If not used, these sig-
nals may be left unconnected.

Electrical Specifications
MC73110 Product Manual 19
3
I2CClk 64 Output This digital signal and the I2CData signal comprise an I2C bus used
for inputting amplifier temperature from an I2C compatible device,
and/or an I2C compatible serial EEPROM device. If not used, these
signals may be left unconnected.
DigitalCmdClk
DigitalCmdData
47
45
Input These digital signals encode a 16-bit digital command containing the
desired voltage, torque or velocity, depending on how the chip has
been programmed. These signals are encoded using an SPI word for-
mat, with one line providing clock information (DigitalCmdClk), and
the other providing data (DigitalCmdData). If not used, these signals
may remain unconnected.
SrlXmt 43 Output This digital signal transmits serial data to the asynchronous serial
port.
SrlRcv 44 Input This digital signal inputs serial data from the asynchronous serial
port. If not used, this signal may remain unconnected.
AmplifierDisable 23 Output This digital signal provides a general purpose output which can be
programmed for a variety of internal conditions of the chip. It is
most commonly used to control external amplifier circuitry in the
event that a condition such as overtemperature or a motion error
occurs. The sense of this signal is active high. That is, this signal is
normally low, and transitions high upon the occurrence of the pro-
grammed special event. NOTE: This signal must not be pulled
down. It should be either connected to a high-impedance
input or pulled up to 3.3V with a 10K resistor.
~PWMOutput-
Disable
36 Input This digital signal directly controls the PWM output circuitry. When
this signal is high the PWM output of the chip is enabled. When it is
low, PWM output is disabled, and all PWM output signals are tri-
stated. If not used, this signal may remain unconnected.
AnalogRefHigh
AnalogRefLow
20
19
Input These analog signals provide the high voltage reference and the low
voltage reference value used to define the allowed range of voltage
for the pins Velocity, CurrentA, CurrentB and AnalogCmd. The rec-
ommended value of AnalogRefHigh is between 2.0V and AnalogVcc.
The recommended value of AnalogRefLow is AnalogGND. The volt-
age change on both pins shall be smaller than half of the LSB of the
target resolution.
AnalogVcc 21 Input This signal provides power to the analog portion of the chip’s cir-
cuitry. It should be connected to a 3.3V supply. It is recommended
that this (analog) power supply be isolated from digital power supply
Vcc in order to ensure noise immunity and meet the specified A/D
performance. The recommended operating range is from 3.0V to
3.6V, with a nominal value of 3.3V. The difference between
AnalogVcc and Vcc should not exceed 0.3V.
AnalogGND 11, 12, 14, 22 Input These signals provide the return for the analog portion of the chip’s
circuitry. It should be connected to the analog return. It is recom-
mended that this (analog) power return be isolated from digital
power return in order to ensure noise immunity, and to meet the
specified A/D performance.
ClockIn 24 Input This is the master clock signal for the chip.
It is nominally driven at 10 MHz.
~Reset 28 Input This digital signal is used to reset the chip. When brought low, this
pin resets the chip to its initial conditions. This pin must be high for
normal operation. Refer to Figure 3-3 on page 16 for timing require-
ments.
Vcc 6, 10, 27, 35,
52, 56
— These signals provide power to the digital portion of the chip’s
circuitry. They should be connected to a 3.3V supply.
GND 5, 9, 26, 34,
51, 55
— These signals provide the return for the digital portion of the chip’s
circuitry. They should be connected to the digital return.
Pin
Name
Pin
Number Direction Description

Electrical Specifications
20 MC73110 Product Manual
3
3.6 Phase Lock Loop (PLL)
The circuit in Figure 3-6 shows the recommended configuration and suggested values for the filter that must be
connected to the OscFilter1 and OscFilter2 pins of the chip. The resistor tolerance is ±5%, and the capacitor tolerance
is ±20%. Unpolarized capacitors must be used.
Figure 3-6:
PLL circuitry
design
Vccp 60 — This signal provides 5V to the internal Flash programming circuitry
of the chip. If it is desired that the chips’ startup configuration be
stored in the chip’s internal Flash memory, 5V must be provided at
this pin. Otherwise, this pin must be connected to the digital return.
— (Reserved/
unused)
7, 8, 25, 29,
30, 31, 32,
33, 48, 61, 62
— These pins should remain unconnected.
Osc filter1
Osc filter2
37
38
—
—
These signals form a PLL (phase lock loop) circuit. See
Section3.6, “Phase Lock Loop (PLL),” on page20 for more infor-
mation.
PLLVcc 39 — This signal provides the Vcc for the phase locked loop circuit. It
should be connected to a 3.3V supply.
Pin
Name
Pin
Number Direction Description