MC1151A PMD, MC1151A Datasheet - Page 45

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

SET_AUTO_STOP_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_AUTO_STOP_ON enables automatic profile generation shutdown
upon motion error. In this mode profile generation will be disabled
(equivalent to MTR_OFF cmd) when a motion error occurs (see
SET_POS_ERR cmd for more info.). The profile generator can be re-
enabled using the MTR_ON cmd.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
SET_AUTO_STOP_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_AUTO_STOP_OFF disables automatic profile generator
shutdown upon motion error. In this mode the profile generator will not
be disabled when a motion error occurs.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
SET_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_POS_ERR sets the position error limit for the automatic stall
detection facility. The error is specified as an unsigned 16-bit number
with units of encoder counts The range is 0 to 32,767. At each chipset
cycle the magnitude of the position error calculated by the stall detector
is compared with the specified position error limit. If the actual position
error exceeds the specified value, the motion error status bit is set. In
addition, if the axis has been set for automatic motor stop upon motion
error, the axis profile generation will be disabled. The loaded maximum
position error is utilized immediately. No update is required for this
command to take effect.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
Set position error limit
1/write
29 (hex)
current axis
all axes
no
Enable automatic motor shutdown
none
45 (hex)
current axis
all axes
no
Disables automatic motor shutdown
none
44 (hex)
current axis
all axes
no
45
GET_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_POS_ERR returns the maximum position error value set using the
SET_POS_ERR command. The returned maximum position error value
is an un signed 16-bit number with units of encoder counts.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
GET_ACTL_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_ACTL_POS_ERR returns the current instantaneous position error
of the axis. The returned value represents the difference between the
actual position and the target position after the target motion, which has
units of steps has been converted into encoder counts using the step
ratio parameters (set using SET_STEP_RATIO command). The
returned value is a signed 16-bit number with units of encoder counts.
The range is -32,768 to +32,767.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
Miscellaneous
SET_ACTL_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_ACTL_POS sets the current actual position (in encoder counts) as
well as the current target position (in steps) to the specified value. The
desired position is specified as a signed 32 bit number with an allowed
range of -1,073,741,824 to 1,073,741,823.
If the -E chipset is used this command causes the actual position
error to be set to 0.
This command causes the actual position error to be set to 0.
The loaded position is utilized immediately. No UPDATE is
required for the command to take effect.
Get maximum position error
1/read
55 (hex)
current axis
all axes
-
Return current position error
1/read
60 (hex)
current axis
all axes
-
Set actual axis position
2/write
4d (hex)
current axis
all axes
no