mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 46

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

GET_JERK
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_JERK returns the jerk value set using the SET_JERK command.
It returns the double-buffered value (set directly by the host), which may
or may not correspond to the active value, depending on whether the
profile parameters have been updated. The returned jerk is an
unsigned 32-bit number with 1/2 32 scaling with units of
counts/sample 3 .
GET_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_RATIO returns the gear ratio set using the SET_RATIO
command. It returns the double-buffered value (set directly by the host),
which may or may not correspond to the active value, depending on
whether the profile parameters have been updated. The returned ratio
is a signed 32-bit number in 1/2 16 format.
GET_TRGT_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_TRGT_POS returns the current desired position value being
generated by the trajectory profile generator. This value represents the
target position for the axis at the current sample time, i.e. the position
being output by the trajectory profile generator at the time of the
command. This command operates for all profile modes. The value
returned is a 32-bit signed number with units of counts. The range is -
1,073,741,824 to 1,073,741,823. This command is useful to monitor the
profile being generated by the chip set, or to verify servo performance.
GET_TRGT_VEL
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_TRGT_VEL returns the current desired velocity value being
generated by the trajectory profile generator. This value represents the
target velocity for the axis at the current sample time, i.e. the velocity
Get command jerk
2/read
58 (hex)
current axis
all axes
-
Get command gear ratio
2/read
59 (hex)
current axis
all axes
-
Return target position
2/read
1d (hex)
current axis
all axes
-
Return target velocity
2/read
1e (hex)
current axis
all axes
-
46
being output by the trajectory profile generator at the time of the
command. This command operates for all profile modes. The value
returned is a 32 bit signed number with units of counts/sample,
represented in 1/2 16 format. The range is -1,073,741,824 to
+1,073,741,823. This command is useful to monitor the profile being
generated by the chip set, or to verify servo performance.
Digital Filter
SET_KP
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_KP sets the proportional gain for the digital filter. The gain is
specified as an unsigned 16-bit number. The range is 0 to 32,767. The
loaded gain is not utilized until a parameter update occurs.
SET_KD
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_KD sets the derivative gain for the digital filter. The gain is
specified as an unsigned 16-bit number. The range is 0 to 32,767. The
loaded gain is not utilized until a parameter update occurs.
SET_KI
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_KI sets the integral gain for the digital filter. The gain is specified
as an unsigned 16-bit number. The range is 0 to 32,767. The loaded
gain is not utilized until a parameter update occurs.
SET_KVFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_KVFF sets the velocity feed forward gain for the digital filter. The
gain is specified as an unsigned 16 bit number. The range is 0 to
32,767. The loaded gain is not utilized until a parameter update occurs.
Set proportional gain
1/write
25 (hex)
current axis
all axes
yes
Set derivative gain
1/write
27 (hex)
current axis
all axes
yes
Set integral gain
1/write
26 (hex)
current axis
all axes
yes
Set velocity feed forward gain
1/write
2b (hex)
current axis
all axes
yes