mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 55

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

returned 16 bit word contains the motor output mode. The encoding is
as follows:
GET_BUF_MTR_CMD
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_BUF_MTR_CMD returns the value set using the
SET_BUF_MTR_CMD. The returned value is a 16 bit integer.
Miscellaneous
AXIS_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
AXIS_ON enables the current axis. Axes that are on are serviced
normally. Axes that are off are not serviced, and will not support any
axis features. Axes can be enabled or disabled at any time, although
care should be taken not to disable an axis such that unsafe motion
occurs.
AXIS_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
AXIS_OFF disables the current axis. Axis that are on are serviced
normally. Axis that are off are not serviced, and will not support any axis
features. Axes can be enabled or disabled at any time, although care
should be taken not to disable an axis such that unsafe motion occurs.
Returned Word Value
0
1
2
Get double-buffered motor output value
1/read
69 (hex)
current axis
1, 2
-
Enable current axis
none
41 (hex)
current axis
all axes
no
Disable current axis
none
40 (hex)
current axis
all axes
no
Output Mode
not used
DAC16
PWM
55
SET_ACTL_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_ACTL_POS sets the current actual position to the specified value.
In addition, it sets the current target position equal to the specified
actual position minus the current actual position error. In this way the
current actual position error is maintained, allowing the
SET_ACTL_POS command to be used while the axis is moving without
causing the servo axis to jump. The desired actual axis position is
specified as a signed 32 bit number with an allowed range of -
1,073,741,824 to 1,073,741,823.
The loaded position is utilized immediately. No UPDATE is
required for the command to take effect.
GET_ACTL_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_ACTL_POS returns the current actual position of the current axis.
The value read is up to date to within a servo sample time.The value
returned is a 32 bit signed number with units of counts.
SET_LMT_SENSE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_LMT_SENSE sets the interpretation of the limit switch input bits.
This command provides added flexibility in interfacing to various
switch/sensor components. The signal level interpretation for the
positive and negative switch inputs are bit-programmable. A 0 in the
corresponding bit of the sense word indicates that the input will be
active high. A 1 in the sense word indicates that the input will be active
low. The sense word is encoded as follows:
The above bits are encoded as shown for the MC1231A. For the
MC1131A axis 2 is not used.
Bit #
0
1
2
3
4-15
Description
Axis 1 positive limit switch (0 = active high)
Axis 1 negative limit switch (0 = active high)
Axis 2 positive limit switch (0 = active high)
Axis 2 negative limit switch (0 = active high)
not used (must set to 0)
Set actual axis position
Set limit switch bit sense
2/write
4d (hex)
current axis
all axes
no
Return actual axis position
2/read
37 (hex)
current axis
all axes
-
1/write
66 (hex)
global (all axes)
all axes
-