MC1151A PMD, MC1151A Datasheet - Page 43

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

Bits 0-7 are set by the chipset, and must be reset by the host
(using CLR_STATUS, RST_STATUS, or RST_INTRPT commands).
Bits 8, 9, 10, 12, and 13 are continuously maintained by the chipset
and are not set or reset by the host.
GET_MODE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_MODE returns the mode word for the axis.The bit encoding of the
returned word is as follows:
Bit #
0-6
7
8
9
10
11,12
13-15
Pulse Generation
SET_OUTPUT_STNDRD Set pulse generator mode to standard
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_OUTPUT_STNDRD sets the pulse generator output mode to
standard. In this mode the maximum pulse rate output by the chipset is
48.8 kilopulses/sec. This command only affects the current axis.
Unlike the output mode control commands for PMD's servo chips
(SET_OUTPUT_PWM cmd, SET_OUTPUT_DAC16 cmd), this
10
11
12,13
14,15
In-motion bit (1 indicates axis is in motion)
reserved (may be 0 or 1)
current axis # (13 bit = high bit, 12 bit = low bit)
reserved (may be 0 or 1)
Event
Contains no host-useable information.
Stop on motion error mode flag. 1 indicates auto
stop is on.
Internal use only. Contains no host-useable data
Pulse generator mode. 1 indicates high speed
mode, 0 indicates standard mode
Auto update flag. 1 indicates auto update is
disabled.
Trajectory profile mode, encoded as follows:
Bit 12
0
0
1
1
Phase # (S-curve profile only). 3-bit word encodes
phase #. Bit 15 is MSB, bit 13 is LSB.
Get axis mode word
1/read
48 (hex)
current axis
all axes
-
none
3c (hex)
current
all axes
no
Bit 11
0
1
0
1
Profile Mode
trapezoidal
velocity contouring
s-curve
electronic gear
43
command does not act globally, but on the current axis only. This
allows different pulse ranges to be executed on different axes.
SET_OUTPUT_HIGH
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_OUTPUT_HIGH sets the pulse generator output mode to high
speed. In this mode the maximum pulse rate output by the chipset is
1.5625 megapulses/sec. This command only affects the current axis.
Unlike the output mode control commands for PMD's servo chips
(SET_OUTPUT_PWM cmd, SET_OUTPUT_DAC16 cmd), this
command does not act globally, but on the current axis only. This
allows different pulse ranges to be executed on different axes.
MTR_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
MTR_ON enables pulse generation. When pulse generation is enabled,
pulse rate and direction information is generated by the trajectory
generator and output on the pulse and direction lines. When it is
disabled no pulse generation can occur.
After a MTR_ON command the pulse generator will be inactive
until a trajectory move is made by the host.
MTR_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
MTR_OFF disables pulse generation. When pulse generation is
disabled, pulse rate and direction output is immediately terminated. To
re-enabled pulse output the MTR_ON command should be used.
Set pulse generator mode to high speed
none
3b (hex)
current
all axes
no
Enable pulse generation output
none
43 (hex)
current axis
all axes
no
Disable pulse generation output
none
42 (hex)
current axis
all axes
no