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MC1451A Datasheet(PDF) 36 Page - List of Unclassifed Manufacturers

Part No. MC1451A
Description  Advanced Step Motor Control Chipset
Download  51 Pages
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Maker  ETC1 [List of Unclassifed Manufacturers]
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MC1451A Datasheet(HTML) 36 Page - List of Unclassifed Manufacturers

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36
in this mode the trajectory profile generator will drive the current axis to
the position specified by the encoder factored by the specified gear
ratio. The gear ratio may be changed on the fly. The axis will stay in this
profile mode until another profile mode is explicitly set.
There are no host-specified limits to axis motion in this mode. It is
the responsibility of the host to specify a gear ratio that maintains
the axis within safe motion limits.
This command is available on the MC1451A-E, MC1251A-E, and
MC1151A-E parts only.
SET_POS
Set command position
Data/direction
2/write
Encoding:
10 (hex)
Axis acted on:
current axis
Available on:
all axes
Double buffered:
yes
SET_POS sets the final position used during the S-curve and
trapezoidal trajectory profile generator modes. The position is specified
as a signed 32-bit number with units of steps. The range is
-1,073,741,824 to 1,073,741,823. The loaded position is not utilized
until a parameter update occurs.
SET_VEL
Set command velocity
Data/direction:
2/write
Encoding:
11 (hex)
Axis acted on:
current axis
Available on:
all axes
Double buffered:
yes
SET_VEL sets the maximum velocity magnitude used during the S-
curve, trapezoidal, and velocity contouring profile modes. The velocity
is specified as an unsigned 32-bit number with units of steps/cycle. The
data word scaling is 1/216. The range is 0 to +1,073,741,823. The
loaded velocity is not utilized until a parameter update occurs.
SET_ACC
Set command acceleration
Data/direction:
2/write
Encoding:
12 (hex)
Axis acted on:
current axis
Available on:
all axes
Double buffered:
yes
SET_ACC sets the command acceleration. When in trapezoidal point-
to-point mode, the acceleration is specified as an unsigned 32-bit
number with units of steps/cycle2, represented using 1/216 scaling. The
range is 0 to +1,073,741,823. When in the velocity contouring mode,
the acceleration is specified as a signed 32-bit number with units of
steps/cycle2, represented in 1/216 format.The range is -1,073,741,824
to +1,073,741,823. The loaded acceleration is not utilized until a
parameter update occurs.
This command is used when the profile mode is set to trapezoidal
point-to-point or velocity contouring.
SET_MAX_ACC
Set maximum acceleration
Data/direction:
1/write
Encoding:
15 (hex)
Axis acted on:
current axis
Available on:
all axes
Double buffered:
yes
SET_MAX_ACC sets the maximum acceleration. The acceleration is
specified as an unsigned 16-bit number with units of steps/cycle2
represented using 1/216 scaling. The range is 0 to +1,073,741,823. The
loaded max. acceleration is not utilized until a parameter update occurs.
This command is used when the profile mode is set to S-curve
point to point.
SET_JERK
Set command jerk
Data written:
2 words
Data read:
none
Encoding:
13 (hex)
Axis acted on:
current axis
Available on:
all axes
Double buffered:
yes
SET_JERK sets the command jerk used during the S-curve profile
generation mode. The jerk is specified as an unsigned 32-bit number
with units of steps/cycle3. The scaling is 1/232. The range is 0 to
2,147,483,647. The loaded jerk is not utilized until a parameter update
occurs.
SET_RATIO
Set command gear ratio
Data/direction:
2/write
Encoding:
14 (hex)
Axis acted on:
current axis
Available on:
all axes
Double buffered:
yes
SET_RATIO sets the electronic gear ratio used by the trajectory profile
generator. It is used when the profile mode is set to electronic gear. The
gear ratio is specified as a signed 32-bit number with 1/216 scaling. The
range is -1,073,741,824 to +1,073,741,823. The specified ratio value is
defined as the number of steps per encoder count with a positive
number indicating motion in the same direction. For example a value of
+8000 hex (1/2) will result in 1 step in the positive direction for each two
encoder counts in the positive direction, and a value of -FFFE0000 hex
(-2) will result in 2 steps in the negative direction for each encoder
count in the positive direction. The loaded ratio is not utilized until a
parameter update occurs.


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