MC1151A PMD, MC1151A Datasheet - Page 44

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

Encoder (-E Version Chipsets Only)
GET_ACTL_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_ACTL_POS returns the current encoder position of the current
axis. The value read is up to date to within a cycle time.The value
returned is a 32 bit signed number with units of encoder counts.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
SET_CAPT_INDEX
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_CAPT_INDEX sets the high-speed position register trigger source
for the current axis to the index signal. When the index is used as the
trigger source, it is gated by the A and B quadrature signals (see Pin
Descriptions Section of this manual for details).
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
SET_CAPT_HOME
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_CAPT_HOME sets the high-speed position register trigger source
to the home signal.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
current axis
current axis
Return actual axis position
2/read
37 (hex)
all axes
-
Set position capture trigger source to
the index signal
none
64 (hex)
all axes
no
Set position capture trigger source to
the home signal
none
65 (hex)
current axis
all axes
no
44
GET_CAPT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_CAPT returns the current value of the high-speed position capture
register, as well as resets the capture hardware so that subsequent
positions may be captured. The value returned is a 32 bit signed
number with units of encoder counts.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
SET_STEP_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_STEP_RATIO sets the ratio of encoder counts to output steps for
the current axis used in conjunction with automatic stall detection. The
specified ratio is a 16-bit unsigned number with a range of 0 to 32,767.
The formula that should be used to set this value is: Ratio =
(N counts /N steps )*256. Where N counts is the number of encoder counts
per motor rotation, and N steps is the number of output steps per motor
rotation (12,800 for a 1.8 degree stepper, 3,200 for a 7.2 degree
stepper). Using this equation the resultant ratio must be an exact
integer.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
GET_STEP_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_STEP_RATIO returns the ratio of encoder counts to output steps
set using the SET_STEP_RATIO command. The returned value is a
16-bit unsigned number.
This command is available for the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
Return high speed capture register
2/read
36 (hex)
current axis
all axes
-
Set number of encoder counts per step
none
68 (hex)
current axis
all axes
no
Get number of encoder counts per step
none
6f (hex)
current axis
all axes
-