PIC17C756A

Market: Motion Control

DC Servo Motor Control Application Brief

H-Bridge Driver H-Bridge Driver

DC Motor #2 Encoder

Direction

PWM2 I/O

PWM1 I/O

Direction

DC Motor #1 Encoder

1 2 PLD 16R8

7 17C P IC
Up_Count Down_Count CAP3 CAP4

56A
Up_Count Down_Count PLD 16R8 1 2

CAP1 CAP2

APPLICATION DESCRIPTION
The PIC17C756A microcontroller is an excellent choice for cost-effective servo control in embedded applications. With two PWMs and four Captures, position and velocity servo control for two motors can be accomplished. (Velocity-only control can be done for three motors.) The D/A for control of each DC motor is accomplished by one PWM. An H-Bridge is used to translate the PWM into usable voltages and currents to drive the motor. Feedback (quadrature data) on the motor goes from the encoder to a programmable logic device (PLD), which is translated into

Up_Count and Down_Count pulses. This information is captured by the PIC17C756A and used in its calculations to control the motor. The PID (Proportional, Integral, Differential) algorithm is widely used and, although not the optimum controller for all applications, it is easy to understand and use. The PIC17C756A can perform the PID control calculation in less than 100s (@33 MHz), allowing fast control loop sample times. For more details on how to implement motor control, refer to AN532 Servo Control of a DC Brush Motor.

PIC17C756A

Market: Motion Control

DC Servo Motor Control Application Brief

System Requirements
System Requirements Motor drive Motor drive feedback control Motor direction control 4 Captures 50 I/O lines PICmicro MCU Applicability High speed PWM reduces noise

Related Applications
Industrial Valve Control Remote Controlled Toys Pick and Place Machines Remote Controlled Motors Robot Arm (Manufacturing)

PIC17C756A Features
Performance DC - 33 MHz Program Memory: 16K internal, 64K external Data Memory: 902 bytes Single Cycle Instructions 8 x 8 Single Cycle Multiply in 121 ns Peripherals 4 Captures (16 bit) 3 PWM (10 bit) 4 Timers 2 USARTs 10-bit A/D (12 channel), < 1LSb error SPI I2C Master Watchdog Timer Key features utilized in this application. BOR < 1 A Standby Current Low Voltage Capability - see the PIC17C75X Data Sheet for details (DS30264A) Power Package DIE 64/68 pin

Microchip Technology Inc. 2355 West Chandler Blvd. Chandler, AZ 85224-6199 U.S.A. (602) 786-7200 FAX (602) 899-9210 Technical Support (602) 786-7627 Web Site: www.microchip.com
The Microchip name and logo are registered trademarks and PICmicro is a trademark of Microchip in the USA and other countries. All other trademarks mentioned herein are property of their respective owners. Information subject to change. 1998, Microchip Technology Inc. All rights reserved. DS30602A_12