MC1151A PMD, MC1151A Datasheet - Page 36

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

in this mode the trajectory profile generator will drive the current axis to
the position specified by the encoder 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.
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.
This command is available on the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
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 steps. The range is
-1,073,741,824 to 1,073,741,823. The loaded position is not utilized
until a parameter update occurs.
SET_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_VEL sets the maximum velocity magnitude used during the S-
curve, trapezoidal, and velocity contouring profile modes. The velocity
is specified as an unsigned 32-bit number with units of steps/cycle. The
data word scaling is 1/2 16 . The range is 0 to +1,073,741,823. The
loaded velocity is not utilized until a parameter update occurs.
SET_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_ACC sets the command acceleration. When in trapezoidal point-
to-point mode, the acceleration is specified as an unsigned 32-bit
number with units of steps/cycle 2 , represented using 1/2 16 scaling. The
range is 0 to +1,073,741,823. When in the velocity contouring mode,
the acceleration is specified as a signed 32-bit number with units of
steps/cycle 2 , represented in 1/2 16 format.The range is -1,073,741,824
to +1,073,741,823. The loaded acceleration is not utilized until a
parameter update occurs.
Set command position
2/write
10 (hex)
current axis
all axes
yes
Set command velocity
2/write
11 (hex)
current axis
all axes
yes
Set command acceleration
2/write
12 (hex)
current axis
all axes
yes
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This command is used when the profile mode is set to trapezoidal
point-to-point or velocity contouring.
SET_MAX_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_MAX_ACC sets the maximum acceleration. The acceleration is
specified as an unsigned 16-bit number with units of steps/cycle 2
represented using 1/2 16 scaling. The range is 0 to +1,073,741,823. The
loaded max. acceleration is not utilized until a parameter update occurs.
This command is used when the profile mode is set to S-curve
point to point.
SET_JERK
Data written:
Data read:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_JERK sets the command jerk used during the S-curve profile
generation mode. The jerk is specified as an unsigned 32-bit number
with units of steps/cycle 3 . The scaling is 1/2 32 . The range is 0 to
2,147,483,647. The loaded jerk is not utilized until a parameter update
occurs.
SET_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_RATIO sets the electronic gear ratio used by the trajectory profile
generator. It is used when the profile mode is set to electronic gear. The
gear ratio is specified as a signed 32-bit number with 1/2 16 scaling. The
range is -1,073,741,824 to +1,073,741,823. The specified ratio value is
defined as the number of steps per encoder count with a positive
number indicating motion in the same direction. For example a value of
+8000 hex (1/2) will result in 1 step in the positive direction for each two
encoder counts in the positive direction, and a value of -FFFE0000 hex
(-2) will result in 2 steps in the negative direction for each encoder
count in the positive direction. The loaded ratio is not utilized until a
parameter update occurs.
Set maximum acceleration
1/write
15 (hex)
current axis
all axes
yes
Set command jerk
2 words
none
13 (hex)
current axis
all axes
yes
Set command gear ratio
2/write
14 (hex)
current axis
all axes
yes