mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 44

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

-1,073,741,824 to 1,073,741,823. The loaded position is not utilized
until a parameter update occurs.
SET_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
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 counts/sample.
The data word scaling is 1/2 16 . The range is 0 to +1,073,741,823. The
loaded velocity is not utilized until a parameter update occurs.
SET_ACC
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
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 counts/sample 2 , represented using 1/2 16 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 counts/sample 2 , represented in 1/2 16 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
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_MAX_ACC sets the maximum acceleration. The acceleration is
specified as an unsigned 16-bit number with units of counts/sample 2
represented using 1/2 16 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.
current axis
current axis
current axis
Set command velocity
2/write
11 (hex)
all axes
yes
Set command acceleration
2/write
12 (hex)
all axes
yes
Set maximum acceleration
1/write
15 (hex)
all axes
yes
44
SET_JERK
Data written:
Data read:
Encoding:
Axis acted on:
Available on:
Double buffered:
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 counts/sample 3 . The scaling is 1/2 32 . The range is 0 to
2,147,483,647. The loaded jerk is not utilized until a parameter update
occurs.
SET_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
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 represented using
1/2 16 scaling. The range is -1,073,741,824 to +1,073,741,823. The
specified ratio value is defined as the number of counts of the slave
axis per master axis count with a positive number indicating motion in
the same direction. For example a value of +8000 hex (1/2) will result in
1/2 turn in the positive direction of the slave axis for each full turn of the
master axis in the positive direction, and a value of -FFFE0000 hex (-2)
will result in 2 turns in the negative direction of the slave axis for each
full turn of the master axis in the positive direction. The loaded ratio is
not utilized until a parameter update occurs.
STOP/CLR_PRFL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
STOP, also known as CLR_PRFL in earlier chipset versions, stops the
current axis by setting the target velocity to zero. This function will not
be performed until a parameter update occurs. After the update occurs
the axis trajectory generator will stop and the motion complete bit will
be set. This command is useful for stopping the axis abruptly.
Set command jerk
2 words
none
13 (hex)
current axis
all axes
yes
Set command gear ratio
2/write
14 (hex)
current axis
axis #1, #2
yes
Abruptly stop current axis motion
none
46 (hex)
current axis
all axes
yes