MC1151A PMD, MC1151A Datasheet - Page 41

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

SET_AUTO_UPDATE_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_AUTO_UPDATE_ON sets the automatic profile update
mechanism on. After this command is sent, a satisfied breakpoint
condition will result in all of the double-buffered parameters
automatically being transferred to the active registers. Once set to this
mode, the axis will stay in this mode until explicitly commanded out
using the SET_AUTO_UPDATE_OFF command.
SET_AUTO_UPDATE_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_AUTO_UPDATE_OFF sets the automatic profile update
mechanism off. After this command is sent, a satisfied breakpoint
condition will not result in the double-buffered parameters automatically
being transferred to the active registers. Once set to this mode, the axis
will stay in this mode until explicitly commanded out using the
SET_AUTO_UPDATE_ON command.
When in this mode, the only way that profile parameters can be
updated is through the UPDATE or the MULTI_UPDATE
commands.
GET_BRK_PNT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_BRK_PNT returns the breakpoint comparison value set using the
SET_BRK_PNT command. The returned value is a 32-bit number with
units of either cycles or steps (depending on the current breakpoint
mode).
current axis
Get break point comparison value
2/read
57 (hex)
all axes
no
Set automatic profile update on
none
5c (hex)
current
all axes
no
Set automatic profile update off
none
5d (hex)
current
all axes
no
41
Interrupt Processing
SET_INTRPT_MASK
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_INTRPT_MASK sets the interrupt mask so that interrupt events
can be individually masked off. When a non-masked interrupt occurs in
any axis, the interrupt signal to the host is activated (HostIntrpt pin on
I/O chip). The host can choose to ignore or respond to the interrupt.
Once an interrupt has been generated, no new interrupts will be
generated until a RST_INTRPT command is given, after which the
interrupt signal to the host will be cleared, and a new interrupt (on any
axis) can be generated. The associated data word is encoded as a field
of bits, with each bit representing a possible interrupting condition. A 1
value in the mask bit will cause the corresponding event to generate an
interrupt, while a 0 will stop the corresponding event from interrupting
the host. The bit encoding is as follows:
GET_INTRPT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_INTRPT returns the status of the axis that generated a host
interrupt. The current axis number will not be changed after executing
this command. See GET_STATUS for a definition of the returned status
word. If this command is executed when no interrupt condition is
present, the status of the current axis will be returned.
If this command is executed when no interrupt condition is
present, the command will return the status of the current axis
(same as GET_STATUS command).
Bit #
0
1
2
3
4
5
6
7
8-15
Event
Motion complete
position wrap-around
update breakpoint reached
position capture received
motion error
positive limit switch
negative limit switch
command error
not used, must be set to 0
Set host interrupt mask
1/write
2f (hex)
current axis
all axes
no
Return status of the interrupting axis
1/read
30 (hex)
interrupting axis
all axes
-