2-156

Table 2. Register Reference Table by Register Number

Register

User

Hex

Dec.

Function

Mode Used

Data Type

Access

R00H

R00D

Flag Register

All

–

r/w

R05H

R05D

Program Counter

All

scalar

w

R07H

R07D

Status Register

All

–

R08H

R08D

8 bit Motor Command Port

All

2’s complement

+ 80H

r/w

R09H

R09D

PWM Motor Command Port

All

2’s complement

r/w

R0CH

R12D

Command Position (MSB)

All except Proportional

2’s complement

Velocity

R0DH

R13D

Command Position

All except Proportional

2’s complement

Velocity

R0EH

R14D

Command Position (LSB)

All except Proportional

2’s complement

Velocity

R0FH

R15D

Sample Timer

All

scalar

r/w

R12H

R18D

Read Actual Position (MSB)

All

2’s complement

R13H

R19D

Read Actual Position

All

2’s complement

R14H

R20D

Read Actual Position (LSB)

All

2’s complement

R15H

R21D

Preset Actual Position (MSB)

INIT/IDLE

2’s complement

R16H

R22D

Preset Actual Position

INIT/IDLE

2’s complement

R17H

R23D

Preset Actual Position (LSB)

INIT/IDLE

2’s complement

R18H

R24D

Commutator Ring

All

r/w

R19H

R25D

Commutator Velocity Timer

All

scalar

w

R1AH

R26D

X

All

r/w

R1BH

R27D

Y Phase Overlap

All

r/w

R1CH

R28D

Offset

All

r/w

R1FH

R31D

Maximum Phase Advance

All

r/w

R20H

R32D

Filter Zero, A

All except Proportional

scalar

r/w

Velocity

R21H

R33D

Filter Pole, B

All except Proportional

scalar

r/w

Velocity

R22H

R34D

Gain, K

All

scalar

r/w

R23H

R35D

Command Velocity (LSB)

Proportional Velocity

2’s complement

r/w

R24H

R36D

Command Velocity (MSB)

Proportional Velocity

2’s complement

r/w

R26H

R38D

Acceleration (LSB)

Integral Velocity and

scalar

r/w

Trapezoidal Profile

R27H

R39D

Acceleration (MSB)

Integral Velocity and

r/w

Trapezoidal Profile

R28H

R40D

Maximum Velocity

Trapezoidal Profile

r/w

R29H

R41D

Final Position (LSB)

Trapezoidal Profile

2’s complement

r/w

R2AH

R42D

Final Position

Trapezoidal Profile

2’s complement

r/w

R2BH

R43D

Final Position (MSB)

Trapezoidal Profile

2’s complement

r/w

R34H

R52D

Actual Velocity (LSB)

Proportional Velocity

2’s complement

r

R35H

R53D

Actual Velocity (MSB)

Proportional Velocity

2’s complement

r

R3CH

R60D

Command Velocity

Integral Velocity

2’s complement

r/w

Notes:

1. Consult appropriate section for data format and use.

2. Upper 4 bits are read only.

3. Writing to R0EH (LSB) latches all 24 bits.

4. Reading R14H (LSB) latches data in R12H and R13H.

5. Writing to R13H clears Actual Position Counter to zero.

6. The scalar data is limited to positive numbers (00H to 7FH).

7. The commutator registers (R18H, R1CH, R1FH) have further limits which are discussed in the Commutator section of this data sheet.

8. Writing to R17H (R23D) latches all 24 bits (only in INIT/IDLE mode).