[Performance Motion Devices, Inc.]

Introduction
This manual describes the operational characteristics of the MC2140, MC2120 and MC2110 Motion Processors from PMD. These devices are members of PMD’s second-generation motion processor family, which consists of 14 separate products organized into 5 series.

Each of these devices are complete chip-based motion processors. They provide trajectory generation and related motion control functions. Depending on the type of motor controlled they provide servo loop closure, on-board commutation for brushless motors, and high speed pulse and direction outputs. Together these products provide a software-compatible family of dedicated motion processors that can handle a large variety of system configurations.

Each of these chips utilize a similar architecture, consisting of a high-speed computation unit, along with an ASIC (Application Specific Integrated Circuit). The computation unit contains special on board hardware that makes it well suited for the task of motion control.
Along with similar hardware architecture, these chips also share most software commands, so that software written for one chipset may be re-used with another, even though the type of motor may be different.
Each chipset consists of two PQFP (Plastic Quad Flat Pack) ICs: a 100-pin Input/Output (I/O) chip, and a 132-pin Command Processor (CP) chip.
The four different series in the Navigator family are designed for a particular type of motor or control scheme. Here is a summary description of each series.