mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 50

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

SET_ACTL_NEG_BRK
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_ACTL_NEG_BRK sets the current breakpoint mode to negative
actual position based. In this mode the value loaded into the breakpoint
register (SET_BRK_PNT cmd) will represent the axis position in counts
After the SET_ACTL_NEG_BRK command is executed, at each servo
loop the break point value will be compared against the current axis
actual position. If the actual position has a value equal to or less than
the breakpoint register then all profile and all filter parameters will be
loaded into the active registers. After this breakpoint condition has been
satisfied, the breakpoint mode is reset i.e. no additional breakpoints will
occur until a new breakpoint condition is set.
SET_MTN_CMPLT_BRK Set break point mode to motion
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_MTN_CMPLT_BRK sets the current breakpoint mode to motion
complete. In this mode the breakpoint condition is satisfied when the
motion complete bit in the axis status word becomes active (axis motion
is complete). This breakpoint mode is useful for immediately starting a
new profile at the end of the current profile. Once the motion complete
bit becomes active all double-buffered profile parameters will be loaded
in to the active registers. After this breakpoint condition has been
satisfied, the breakpoint mode is reset i.e. no additional breakpoints will
occur until a new breakpoint condition is set.
No 32-bit compare value is required to be loaded when using this
breakpoint mode.
It is the responsibility of the host to ensure that the motion
complete bit is not set when this breakpoint is initiated.
SET_EXT_BRK
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_EXT_BRK sets the current breakpoint mode to external. In this
mode the breakpoint condition is satisfied when the home signal for the
current axis becomes active (goes low). This breakpoint mode is useful
for executing a profile change based on some external signal condition.
Once the home signal becomes active all double-buffered profile
Set break point mode to negative actual
position based
none
1c (hex)
current axis
all axes
no
complete
none
35 (hex)
current axis
all axes
no
Set break point mode to external
none
5e (hex)
current axis
all axes
no
50
parameters will be loaded in to the active registers. After this breakpoint
condition has been satisfied, the breakpoint mode is reset i.e. no
additional breakpoints will occur until a new breakpoint condition is set.
No 32-bit compare value is required to be loaded when using this
breakpoint mode.
SET_BRK_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_BRK_OFF sets the breakpoint mode to "off". Any breakpoint
mode that has been set previously (SET_TIME_BRK, SET_POS_BRK,
SET_NEG_BRK, SET_ACTL_POS_BRK or SET_ACTL_NEG_BRK)
and is still active (the breakpoint condition has not occurred), is
disabled with this command. After this command has been executed no
additional breakpoints will occur until a new breakpoint condition is set.
SET_BRK_PNT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_BRK_PNT sets the breakpoint comparison value. Its contents are
interpreted based on the type of breakpoint set; time based
(SET_TIME_BRK cmd) or position based (SET_POS_BRK cmd,
SET_NEG_BRK cmd, SET_POS_ACTL_BRK cmd, and
SET_NEG_ACTL_BRK cmd). When set to time-based the loaded value
is compared with the current chip set time at each servo loop, and the
value loaded is a 32-bit number with units of servo loops. When set to
position-based the loaded value is compared with the current axis
target or actual position at each servo loop, and the value loaded is a
32-bit number with units of counts.
UPDATE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
UPDATE immediately updates all double buffered parameters.
Set break point mode off
none
6d (hex)
current axis
all axes
no
Set break point comparison value
2/write
16 (hex)
current axis
all axes
no
Immediately update parameters
none
1a (hex)
current axis
all axes
no