MC1151A PMD, MC1151A Datasheet - Page 38

• Manufacturer Part Number: MC1151A
• Description: (MC1x51A) Advanced Step Motor Control Chipset
• Manufacturer: PMD

velocity is an unsigned 32-bit number in 1/2 16 format with units of
steps/cycle.
GET_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_ACC returns the acceleration value set using the SET_ACC
command. It returns the double-buffered value (set directly by the host),
which may or may not correspond to the active value, depending on
whether the profile parameters have been updated. The returned
position is either an unsigned 32-bit number in 1/2 16 format with units
of steps/cycle 2 , or a signed 32 bit number in 1/2 16 format with units of
steps/cycle 2 .
This command is used when the profile mode is set to trapezoidal
point-to-point or velocity contouring.
GET_MAX_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_MAX_ACC returns the max. acceleration value set using the
SET_MAX_ACC command. It returns the double-buffered value (set
directly by the host), which may or may not correspond to the active
value, depending on whether the profile parameters have been
updated. The returned acceleration is an unsigned 16-bit number in
1/2 16 format with units of steps/cycle 2 .
This command is used when the profile mode is set to S-curve
point to point.
GET_JERK
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_JERK returns the jerk value set using the SET_JERK command.
It returns the double-buffered value (set directly by the host), which may
or may not correspond to the active value, depending on whether the
profile parameters have been updated. The returned jerk is an
unsigned 32-bit number with 1/2 32 scaling with units of steps/cycle 3 .
Get command acceleration
2/read
4c (hex)
current axis
all axes
-
Get maximum acceleration
1/read
4f (hex)
current axis
all axes
-
Get command jerk
2/read
58 (hex)
current axis
all axes
-
38
GET_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_RATIO returns the gear ratio set using the SET_RATIO
command. It returns the double-buffered value (set directly by the host),
which may or may not correspond to the active value, depending on
whether the profile parameters have been updated. The returned ratio
is a signed 32-bit number in 1/2 16 format.
This command is available on the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
GET_START_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_START_VEL returns the starting velocity set using the
SET_START_VEL command. The returned starting velocity is an
unsigned 32-bit number using 1/2 16 scaling with units of steps/cycle.
GET_TRGT_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_TRGT_POS returns the current desired position value being
generated by the trajectory profile generator. This value represents the
target position for the axis at the current cycle time, i.e. the position
being output by the trajectory profile generator at the time of the
command. This command operates for all profile modes. The value
returned is a 32-bit signed number with units of steps. The range is -
1,073,741,824 to 1,073,741,823.
GET_TRGT_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_TRGT_VEL returns the current desired velocity value being
generated by the trajectory profile generator. This value represents the
target velocity for the axis at the current cycle time, i.e. the velocity
being output by the trajectory profile generator at the time of the
command. This command operates for all profile modes. The value
Get starting velocity
Return target velocity
Get command gear ratio
2/read
59 (hex)
current axis
all axes
-
2/read
6b (hex)
current axis
all axes
-
Return target position
2/read
1d (hex)
current axis
all axes
-
2/read
1e (hex)
current axis
all axes
-