mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 47

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

SET_I_LM
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_I_LM sets the integration limit for the digital filter. The integration
limit is specified as an unsigned 16-bit number. The range is 0 to
32,767. The loaded integration limit is not utilized until a parameter
update occurs.
SET_MTR_LMT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_MTR_LMT sets the maximum allowed motor command value
output by the servo filter. The motor limit is specified as an unsigned
16-bit number with a range of 0 to 32,767. If the magnitude of the filter
output value (whether positive or negative) exceeds the motor limit than
the output value is maintained at the motor limit value. Once the filter
output value returns below the specified limit than normal servo filter
values are output.
The loaded motor output limit is utilized immediately. No UPDATE
command is required.
The SET_MTR_LMT command only functions during closed loop
operations.
SET_MTR_BIAS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_MTR_BIAS sets the filter DC bias value, used to offset constant
uni-directional forces (typically a vertical axis which is not balanced by a
counter-weight). The specified motor bias value is added directly to the
output of the servo filter. The motor bias is specified as a signed 16-bit
number with a range of -32,767 to 32,767.
The loaded motor bias value is utilized immediately. No UPDATE
command is required.
The SET_MTR_BIAS command functions during closed loop
operations, as well as after a transition to open loop before a
SET_MTR_CMD manual motor output command has been given.
Caution should be used when selecting a motor bias value to
avoid uncontrolled axis motion when transitioning to open loop
mode.
Set integration limit
current axis
current axis
current axis
1/write
28 (hex)
all axes
yes
Set motor output limit
1/write
06 (hex)
all axes
no
Set motor output bias
1/write
0f (hex)
all axes
no
47
SET_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_POS_ERR sets the position error limit for the digital filter. The
error is specified as an unsigned 16-bit number. The range is 0 to
32,767. At each servo loop the magnitude of the position error
calculated by the digital filter is compared with the specified position
error limit. If the actual position error exceeds the specified value, the
motion error interrupt bit is set. In addition, if the axis has been set for
automatic motor stop upon motion error, the axis motor output may be
turned off (all power to motor is turned off). The loaded maximum
position error is utilized immediately.
The value set by this command specifies the limit of the valid
motion error range, but not necessarily the maximum error value.
If the position error limit value is set to less than 32,767 than the
actual position error may exceed the specified limit.
GET_KP
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_KP returns the proportional gain set using the SET_KP 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
filter parameters have been updated. The returned gain value is an
unsigned 16-bit number.
GET_KD
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_KD returns the derivative gain set using the SET_KD 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
filter parameters have been updated. The returned gain value is an
unsigned 16-bit number.
Set position error limit
1/write
29 (hex)
current axis
all axes
no
Get proportional gain
1/read
50 (hex)
current axis
all axes
-
Get derivative gain
1/read
52 (hex)
current axis
all axes
-