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參數(shù)資料
| 型號： | MC68HC16Z1 |
| 廠商： | Motorola, Inc. |
| 英文描述： | 16-Bit Modular Microcontroller(16位模塊化微控制器) |
| 中文描述： | 16位微控制器模塊（16位模塊化微控制器） |
| 文件頁數(shù)： | 16/20頁 |
| 文件大小： | 210K |
| 代理商： | MC68HC16Z1 |
MOTOROLA
16
AN1213/D
Figure 14 Hardware Block Diagram
A user can control the application via a terminal connected to the serial communications interface (SCI) in
the queued serial module (QSM). The MC68HC16Z1 EVB provides a 25-pin D connector for this purpose.
To initiate motor movement, issue a
MOVE
command, specifying the final position, the maximum profiler
velocity, and the acceleration of the move. The SCI transmits and receives such commands with very little
CPU intervention, even during a move.
The MC68HC16 EVB also provides for installation of a Burr-Brown PCM56P 16-bit serial DAC. If the QSM
Serial Peripheral Interface (SPI) is used to drive the DAC, 16-bit DAC updates can be provided at approxi-
mately 4
μ
s intervals (SCLK frequency = 4.19 MHz). DAC output can be used to probe portions of the servo
loop that are not readily available in analog form, such as shaft encoder position or integrator stage output.
The oscilloscope plots in this note were generated by transmitting variable values to the DAC and updating
them every pass through the sample ISR (once every 488
μ
s).
CONCLUSIONS
No matter how thorough the analysis, a working design usually requires some adjustment. The designer
must compare actual system function to theoretical expectations, then tune system coefficients to achieve
optimum performance.
The D term has a dramatic effect on system stability, and should be the first term adjusted when damping
performance is less than satisfactory.
Figure 15
shows how varying D affects system damping, and indi-
cates that the original calculated value for D provides for quick settling time with little or no overshoot.
As mentioned earlier, the I term is used to “servo out” steady-state position error. To demonstrate, a fric-
tional load was applied to the motor shaft, and the system step response was measured with the integrator
enabled and disabled. When disabled, the position error was measured to be between 65 –69 encoder
counts (approximately 6 degrees). With I set to its default value of 5, the error did not exceed one encoder
count (0.09 degrees).
PID HARDWARE BLOCK
MC68HC16Z1
EVB
PWM
ENABLE
TO
OSCILLOSCOPE
ENCODER
FEEDBACK
HCTL 2016
SCI
INTERFACE
PWM
CURRENT
FEEDBACK
PWM
INTERFACE
MODULE
LOGIC TO
MOTOR
INTERFACE
MODULE
CURRENT
LIMIT
USER
INTERFACE
+ 24V
AMPLIFIED
PWM
ENCODER
MOTOR
16-BIT
DAC
AN1213
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| MC68HC16Z1CAG | 制造商:Freescale Semiconductor 功能描述: |
| MC68HC16Z1CAG16 | 功能描述:16位微控制器 - MCU 16 BIT MCU 1K RAM RoHS:否 制造商:Texas Instruments 核心:RISC 處理器系列:MSP430FR572x 數(shù)據(jù)總線寬度:16 bit 最大時(shí)鐘頻率:24 MHz 程序存儲器大小:8 KB 數(shù)據(jù) RAM 大小:1 KB 片上 ADC:Yes 工作電源電壓:2 V to 3.6 V 工作溫度范圍:- 40 C to + 85 C 封裝 / 箱體:VQFN-40 安裝風(fēng)格:SMD/SMT |
| MC68HC16Z1CAG16 | 制造商:Freescale Semiconductor 功能描述:IC16-BIT MICROCONTROLLER |
| MC68HC16Z1CAG20 | 功能描述:16位微控制器 - MCU 16 BIT MCU 1K RAM RoHS:否 制造商:Texas Instruments 核心:RISC 處理器系列:MSP430FR572x 數(shù)據(jù)總線寬度:16 bit 最大時(shí)鐘頻率:24 MHz 程序存儲器大小:8 KB 數(shù)據(jù) RAM 大小:1 KB 片上 ADC:Yes 工作電源電壓:2 V to 3.6 V 工作溫度范圍:- 40 C to + 85 C 封裝 / 箱體:VQFN-40 安裝風(fēng)格:SMD/SMT |
| MC68HC16Z1CAG20 | 制造商:Freescale Semiconductor 功能描述:Microcontroller |
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