mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 56

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

GET_LMT_SWTCH
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_LMT_SWTCH returns the value of the limit switch input signals
for all valid axis. The returned word is encoded as follows:
The above bits are encoded as shown for the MC1231A. For the
MC1131A Axis 2 will always be set to 0.
The values returned by this command are not affected by the
SET_LMT_SENSE command.
LMTS_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
LMTS_ON turns the limit switch sensing mechanism on. This
command is primarily intended for compatibility with the MC1400
chipset, although it can also be used to re-enable limit switch sensing
whenever it has been disabled using the LMTS_OFF command.
LMTS_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
LMTS_OFF turns the limit switch sensing mechanism off. This
command is primarily intended for compatibility with the MC1400
chipset, although it can also be used whenever it is desired that limit
switch sensing not be active.
This command only disables the automatic setting of the negative
and positive limit switch bits in the status word. It does not affect
the status of these bits if they have already been set, nor does it
affect the GET_LMT_SWTCH command.
Bit #
0
1
2
3
4-15
Description
Axis 1 positive limit switch (1 = high)
Axis 1 negative limit switch (1 = high)
Axis 2 positive limit switch (1 = high)
Axis 2 negative limit switch (1 = high)
not used (set to 0)
Get state of over-travel limit switches
1/read
67 (hex)
global (all axes)
all axes
-
Set limit switch sensing on
none
70 (hex)
global (all axes)
all axes
-
Set limit switch sensing off
none
71 (hex)
global (all axes)
all axes
-
56
GET_HOME
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_HOME returns the value of the home signal inputs for all valid
axes. The returned word is encoded as follows:
The above bits are encoded as shown for the MC1231A. For the
MC1131A Axis 2 will always be set to 0.
SET_SMPL_TIME
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_SMPL_TIME sets the servo sampling time which is the amount of
time between servo updates. All axes operate at the same sample rate,
and therefore are all affected by this command. The written value
consists of the sample time expressed in units of 135 micro-seconds.
For example a written value of 4 sets the loop time to 540 uSec. The
allowed range is 1 to 32,767, however see theory of operations section
for guidelines on the minimum values that can be used.
GET_SMPL_TIME
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_SMPL_TIME returns the sample time set using the command
SET_SMPL_TIME. The returned value is a 16 bit unsigned number with
units of 135 uSecs.
Bit #
1
2-15
Description
Axis 1 home signal (1 = high)
Axis 2 home signal (1 = high)
not used (set to 0)
Get state of home signal inputs
1/read
05 (hex)
global (all axes)
all axes
-
Set servo loop sample time
1/write
38 (hex)
global (all axes)
all axes
No
Get servo loop sample time
1/read
61 (hex)
global (all axes)
all axes
No