MC1151A PMD, MC1151A Datasheet - Page 32

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

Command Summary
Command Mnemonic
Axis Control
SET_1
SET_2
SET_3
SET_4
SET_I
Profile Generation
SET_PRFL_S_CRV
SET_PRFL_TRAP
SET_PRFL_VEL
SET_PRFL_GEAR
SET_POS
SET_VEL
SET_ACC
SET_MAX_ACC
SET_JERK
SET_RATIO
SET_START_VEL
STOP
SMOOTH_STOP
SYNCH_PRFL
GET_POS
GET_VEL
GET_ACC
GET_MAX_ACC
GET_JERK
GET_RATIO
GET_START_VEL
GET_TRGT_POS
GET_TRGT_VEL
Parameter Update
SET_TIME_BRK
SET_POS_BRK
SET_NEG_BRK
SET_ACTL_POS_BRK
SET_ACTL_NEG_BRK
SET_MTN_CMPLT_BRK
SET_EXT_BRK
SET_BRK_OFF
SET_BRK_PNT
UPDATE
MULTI_UPDATE
SET_AUTO_UPDATE_ON
SET_AUTO_UPDATE_OFF
GET_BRK_PNT
4e
6b
1d
1e
Code
01
02
03
04
08
0b
09
0a
0c
10
11
12
15
13
14
6a
46
47
4a
4b
4c
4f
58
59
17
18
19
1b
1c
35
5e
6d
16
1a
5b
5c
5d
57
(hex)
Available
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
on
interrupting axis
Axes acted on
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
set by mask
current axis
current axis
set by cmd.
set by cmd.
set by cmd.
set by cmd.
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
32
# data words
/direction
2/write
2/write
2/write
1/write
2/write
2/write
2/write
2/read
1/read
1/read
1/read
1/read
1/read
2/read
2/read
2/read
1/read
2/read
2/read
2/read
2/read
2/write
1/write
2/read
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Buffered
Double
yes
yes
yes
yes
yes
yes
yes
yes
yes
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
no
-
-
-
-
-
-
-
-
-
-
-
Set profile mode to electronic gear
Set command position
Set command velocity
Smoothly stop current axis motion
Get command position
Get command velocity
Get max. acceleration (S-curve profile only)
Get starting velocity
Get current target position
Get current target velocity
Set current axis # to 1
Set current axis # to 2
Set current axis # to 3
Set current axis # to 4
Set current axis # to the interrupting axis
Set profile mode to S-curve
Set profile mode to trapezoidal point to point
Set profile mode to velocity-contouring
Set command acceleration
Set max acceleration (S-curve profile only)
Set command jerk
Set command electronic gear ratio
Set starting velocity
Abruptly stop current axis motion
Set actual pos. equal to target pos. (-E only)
Get command acceleration
Get command jerk
Get command electronic gear rate
Set breakpoint mode to time
Set breakpoint mode to pos. target position
Set breakpoint mode to neg. target position
Set breakpoint mode to pos. actual position
Set breakpoint mode to neg. actual position
Set breakpoint mode to motion complete
Set breakpoint mode to external
Set breakpoint mode off
Set breakpoint comparison value
Immediate parameter update
Multiple axis immediate parameter update
Set automatic profile update on
Set automatic profile update off
Get breakpoint comparison value
Description