MC1151A PMD, MC1151A Datasheet - Page 40

• Manufacturer Part Number: MC1151A
• Description: (MC1x51A) Advanced Step Motor Control Chipset
• Manufacturer: PMD

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 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 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.
complete
none
35 (hex)
current axis
all axes
no
Set break point mode to external
none
5e (hex)
current axis
all axes
no
Set break point mode off
none
6d (hex)
current axis
all axes
no
40
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 cycle, and the value
loaded is a 32-bit number with units of cycles. When set to position-
based the loaded value is compared with the current axis target or
actual position at each cycle, and the value loaded is a 32-bit number
with units of steps.
UPDATE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
UPDATE immediately updates all double buffered parameters.
MULTI_UPDATE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
MULTI_UPDATE immediately updates the double-buffered parameters
for 1 or more axis simultaneously. For each updated axis, the axis
behaves as if a separate UPDATE command had been given for each
axis. The associated data word contains a "positive-sense" bit mask for
each axis. A one (1) in the axis bit position indicates the axis will be
updated. A zero (0) indicates it will not. The following table shows this
bit encoding:
Bit #
0
1
2
3
4-15
Axis # updated
1
2
3
4
unused, must be set to 0
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
Immediately update parameters for
multiple axis
1/write
5b (hex)
set by data word
all axes
no