MC1151A PMD, MC1151A Datasheet - Page 35

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

SET_4
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_4 changes the current axis number to 4. All commands that
operate on the current axis will be affected by this command. The
status of the axis #4 is returned. See GET_STATUS command for the
status word format.
SET_I
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_I changes the current axis number to the interrupting axis, which
is the axis that has caused the host interrupt to become active. All
commands that operate on the current axis will be affected by this
command. The status of the interrupting axis is returned. See
GET_STATUS command for the status word format.
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 current axis to #4
1/read
04 (hex)
set by command
all axes
No
Set current axis to interrupting axis
1/read
08 (hex)
interrupting axis
all axes
No
Set profile mode to S-curve point to
point
none
0b (hex)
current axis
all axes
No
35
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), the starting
velocity (SET_START_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 and starting
velocity 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_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), the starting velocity (SET_START_VEL 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 starting velocity may not. 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
Set profile mode to trapezoidal point to
point
none
09 (hex)
current axis
all axes
No
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
all axes
No