General Description
The MC1401A is a 2-IC general purpose motion control chipset available in one, two, or four axis configurations. It provides trajectory generation and closed-loop digital servo control for a large variety of servo motors. It uses incremental or absolute encoder position feedback signals, and a DAC or PWM compatible output drive. Axes can be programmed either independently or in synchrony to allow advanced multi-axis motion such as circular and continuous-path profiles.

FEATUREs
● Available in 1, 2, or 4 axes configurations
● Provides trajectory generation and servo loop closure
● 32-bit position, velocity, acceleration and jerk registers
● Two directional travel-limit switches per axis
● Choice of S-curve, trapezoidal, or contoured velocity profile modes
● Programmable loop rate to 100 micro sec
● Electronic gearing
● Choice of either PID or PI with velocity feedforward servo control loops
● 1.0 megacount/sec quadrature incremental encoder with index position capture
● Parallel encoder and resolver input support
● Choice of PWM or DAC motor output signals
● High speed home-signal position capture
● "On the fly" control of profile and filter parameters with pre-load
● Programmable torque limit
● Easy to use packet-oriented host protocol
● Programmable host interrupts