mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 45

• Manufacturer Part Number: mc1451a-e
• Description: Advanced Brushless Motor Control Chipset
• Manufacturer: ETC-unknow

SMOOTH_STOP
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SMOOTH_STOP stops the current axis by setting the desired velocity
to zero, resulting in a controlled deceleration of the axis eventually to a
velocity of 0. The deceleration profile will mirror the acceleration profile
for the current profile mode. For example if the SMOOTH_STOP
command is given during an s-curve profile the deceleration profile may
have up to three phases, depending on the # of phases during the
acceleration profile, and if the SMOOTH_STOP command is given
during a trapezoidal profile or a velocity mode profile the deceleration
will be linear, with a value equal to the acceleration parameter.
This command does not function when the profile mode is set to
Electronic Gear.
SYNCH_PRFL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SYNCH_PRFL sets the trajectory profile generator target position equal
to the actual axis position, clearing the following error. This command is
available for all profile types. This function will not be performed until a
parameter update occurs.
The SYNCH_PRFL command does not set the target velocity to
zero. If it is desired that the axis not move after a SYNCH_PRFL
command then a STOP command, in addition to the SYNCH_PRFL
command should be used.
GET_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_POS returns the destination position set using the SET_POS
command. It returns the double-buffered value (set directly by the host),
which may or may not correspond to the active value, depending on
whether the profile parameters have been updated. The returned
position is a signed 32-bit number with units of counts.
Smoothly stop current axis motion
none
4e (hex)
current axis
all axes
yes
Set target position equal to the actual
position
none
47 (hex)
current axis
all axes
yes
Get command position
2/read
4a (hex)
current axis
all axes
-
45
GET_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_VEL returns the maximum velocity set using the SET_VEL
command. It returns the double-buffered value (set directly by the host),
which may or may not correspond to the active value, depending on
whether the profile parameters have been updated. The returned
velocity is an unsigned 32-bit number in 1/2 16 format with units of
counts/sample.
GET_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_ACC returns the acceleration value set using the SET_ACC
command. It returns the double-buffered value (set directly by the host),
which may or may not correspond to the active value, depending on
whether the profile parameters have been updated. The returned
position is either an unsigned 32-bit number in 1/2 16 format with units
of counts/sample 2 , or a signed 32 bit number in 1/2 16 format with units
of counts/sample 2 .
This command is used when the profile mode is set to trapezoidal
point-to-point or velocity contouring.
GET_MAX_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_MAX_ACC returns the max. acceleration value set using the
SET_MAX_ACC command. It returns the double-buffered value (set
directly by the host), which may or may not correspond to the active
value, depending on whether the profile parameters have been
updated. The returned value is an unsigned 16-bit number in 1/2 16
format with units of counts/sample 2 .
This command is used when the profile mode is set to S-curve
point to point.
Get command velocity
2/read
4b (hex)
current axis
all axes
-
Get command acceleration
2/read
4c (hex)
current axis
all axes
-
Get maximum acceleration
1/read
4f (hex)
current axis
all axes
-