mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 43

• Manufacturer Part Number: mc1451a-e
• Description: Advanced Brushless Motor Control Chipset
• Manufacturer: ETC-unknow

Profile Generation
SET_PRFL_S_CRV
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_PRFL_S_CRV sets the trajectory profile mode to S-curve point to
point. In this mode, the host specifies the destination position
(SET_POS cmd), the maximum velocity (SET_VEL cmd) the maximum
acceleration (SET_MAX_ACC cmd), and the jerk (SET_JERK cmd).
Once in this mode, the trajectory profile generator will drive the axis to
the destination position at the specified jerk while not exceeding the
maximum velocity and max. acceleration. The axis will stay in this
profile mode until another profile mode is explicitly set.
While in this profile mode, no parameters should be changed
while the axis is in motion.
Before setting the current profile mode to S-curve point to point,
the axis should be completely at rest.
SET_PRFL_TRAP
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_PRFL_TRAP sets the trajectory profile mode to trapezoidal point
to point. In this mode, the host specifies the destination position
(SET_POS cmd), the maximum velocity (SET_VEL cmd) and the
acceleration (SET_ACC cmd). Once in this mode, the trajectory profile
generator will drive the axis to the destination position at the specified
acceleration while not exceeding the maximum velocity. Position and
velocity may be changed on the fly when in this profile mode;
acceleration may not. The axis will stay in this profile mode until
another profile mode is explicitly set.
Before setting the current profile mode to trapezoidal point to
point, the axis should be completely at rest.
While in this mode, the acceleration should not be changed until
the axis has come to a stop.
Set profile mode to S-curve point to
point
none
0b (hex)
current axis
all axes
No
Set profile mode to trapezoidal point to
point
none
09 (hex)
current axis
all axes
No
43
SET_PRFL_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_PRFL_VEL sets the trajectory profile mode to velocity contouring.
In this mode the host specifies the command acceleration (SET_ACC
cmd), and the maximum velocity (SET_VEL cmd). Once in this mode,
the trajectory profile generator will drive the axis at the specified
acceleration while not exceeding the maximum velocity. The
acceleration and the maximum velocity may be changed on the fly. The
axis will stay in this profile mode until another profile mode is explicitly
set. There are no limitations on changing the profile mode to velocity
contouring while the axis is in motion.
There are no host-specified limits on the position in this mode. It
is the responsibility of the host to specify profile parameters that
maintain the axis within safe position limits.
SET_PRFL_GEAR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_PRFL_GEAR, sets the trajectory profile mode to electronic gear.
In this mode the host specifies the gear ratio (SET_RATIO cmd). Once
in this mode the trajectory profile generator will drive the current (slave)
axis to the position specified by the master axis factored by the
specified gear ratio. The gear ratio may be changed on the fly. The axis
will stay in this profile mode until another profile mode is explicitly set.
The electronic gear mode is available on the following axis for each
chipset:
chipset p/n
MC1231A
MC1131A
There are no host-specified limits to axis motion in this mode. It is
the responsibility of the host to specify a gear ratio that maintains
the axis within safe motion limits.
SET_POS
Data/direction
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_POS sets the final position used during the S-curve and
trapezoidal trajectory profile generator modes. The position is specified
as a signed 32-bit number with units of counts. The range is
gear pairs (master -> slave)
#2 -> #1
not available
Set profile mode to velocity contouring.
none
0a (hex)
current axis
all axes
No
Set profile mode to electronic gear
none
0c (hex)
current axis
axis #1, #2 (see chart)
No
Set command position
2/write
10 (hex)
current axis
all axes
yes