User guide

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Each motor is position controlled using a programmable trapezoid
speed profile. Motor speed is controlled with a pulse width
modulated output, whilst two binary outputs control direction, de-
clutching and motor breaking.
Motor position is sensed by an analogue potentiometer input. The
AL4100 provides inputs for control of the maximum allowed position,
maximum desired speed, motor stall speed, required positional
accuracy and acceleration.
Additionally the AL4100 may be switched to speed control mode, in
which case the DMX512 input controls motor speed not position.
Pin
Functions
The motion control pins function as detailed below:
PWM
The PWM output is a TTL pulse width modulation of the required
motor speed. Output frequency is 64KHz. Output high represents
maximum speed.
DIR !DIR
The DIR & !DIR outputs control the motor operation. Their primary
function is to set the motor direction.
Coding is as follows:
DIR !DIR Motion
0 0 Dynamic Breaking
0 1 Rotate CW
1 0 Rotate CCW
1 1 Dynamic Breaking