mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 48

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

GET_KI
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_KI returns the integral gain set using the SET_KI 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_KVFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_KVFF returns the proportional gain set using the SET_KVFF
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_I_LM
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_I_LM returns the integration limit value set using the SET_I_LM
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
integration limit value is an unsigned 16-bit number.
GET_MTR_LMT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_MTR_LMT returns the maximum allowed motor command value
output by the servo filter set using the SET_MTR_LMT command. The
returned value is an unsigned 16-bit number with a range of 0 to
32,767.
Get integral gain
1/read
51 (hex)
current axis
all axes
-
Get velocity feedforward gain
1/read
54 (hex)
current axis
all axes
-
Get integration limit
1/read
53 (hex)
current axis
all axes
-
Get motor output limit
1/read
07 (hex)
current axis
all axes
-
48
GET_MTR_BIAS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_MTR_BIAS returns the filter DC bias value set using the
SET_MTR_BIAS command. The returned value is a signed 16-bit
number with a range of -32767 to 32,767.
GET_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_POS_ERR returns the maximum position error value set using the
SET_POS_ERR command. The returned maximum position error value
is an un signed 16-bit number.
GET_INTGR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_INTGR returns the current integrated position error value
maintained by the digital filter. The value returned represents the top 16
bit word of the 24-bit integration value. The value returned is a 16-bit
signed number. The range is -32,768 to +32,767. This command is
useful to monitor the loading on the axis, since increases or decreases
in the axis load may be reflected in the value of the integration limit.
GET_ACTL_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_ACTL_POS_ERR returns the current instantaneous position error
of the axis. The returned value represents the difference between the
target position and the actual position (actual position minus target
position), and is a signed 16-bit number. The range is -32,768 to
+32,767. This command is useful to monitor and analyze the tracking
error of the axis.
Get motor output bias
1/read
2d (hex)
current axis
all axes
-
Get maximum position error
1/read
55 (hex)
current axis
all axes
-
Return current integrated position error
value
1/read
2e (hex)
current axis
all axes
-
Return current position error
1/read
60 (hex)
current axis
all axes
-