mc1451a-e ETC-unknow, mc1451a-e Datasheet - Page 54

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

Motor
SET_OUTPUT_PWM
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_OUTPUT_PWM sets the motor output mode to PWM. PWM mode
outputs the motor output value on 2 output signals (sign and
magnitude) for each enabled axis. This command affects the output
mode for all axes.
SET_OUTPUT_DAC16
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_OUTPUT_DAC16 sets the motor output mode to 16-bit DAC. This
motor output mode uses a 16-bit data bus, along with various control
signals to load a DAC value for each enabled axis. This command
affects the output mode for all axes.
MTR_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
MTR_ON enables closed loop servo control. When motor output is
enabled, motor output values generated by the digital filter are output to
the selected output hardware circuitry (PWM, DAC12 or DAC16).
MTR_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
MTR_OFF disables closed loop servo operations. After this command
is executed the motor output is taken from the motor command register,
set using the SET_MTR_CMD command. This register is loaded with a
value of 0 at the moment the motor is disabled. This command can be
used for emergency shutdowns, for calibrating the motor amplifier, or
for running an axis in open loop mode.
Set motor output mode to PWM
none
3c (hex)
global (all axes)
all axes
no
Set motor output mode to 16-bit DAC
none
3b (hex)
global (all axes)
all axes
no
Enable servo motor output
none
43 (hex)
current axis
all axes
no
Disable servo motor output
none
42 (hex)
current axis
all axes
no
54
SET_MTR_CMD
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_MTR_CMD loads the motor command register with the specified
value. This register replaces the motor command value from the servo
filter when the motor is shut off (MTR_OFF command). The specified
motor command is a 16-bit signed number with range -32,767 to
+32,767. Regardless of the motor output mode (PWM or DAC16), a
value of -32,767 represents the largest negative direction motor
command, a value of 0 represents no motor (0) output command, and a
value of 32,767 represents the largest positive motor command.
For this command to work properly, the chipset must be in open
loop mode (MTR_OFF cmd or after a motion error with automatic
motor stop enabled)
GET_MTR_CMD
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_MTR_CMD returns the current motor output command. When the
chipset is in closed loop mode this command returns the output of the
servo filter. When the chipset is in open loop mode this command
returns the contents of the manual output register, set using the
SET_MTR_CMD command.
SET_BUF_MTR_CMD
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_BUF_MTR_CMD loads the motor command register with the
specified value. It is identical to the SET_MTR_CMD except that it
requires an UPDATE command for the written value to take effect.
GET_OUTPUT_MODE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
GET_OUTPUT_MODE returns the current motor output mode set using
the SET_OUTPUT_PWM and SET_OUTPUT_DAC16 commands. The
1, 2
Write direct value to motor output
1/write
62 (hex)
current axis
all axes
no
Read current motor output value
1/read
3a (hex)
current axis
all axes
-
Write double-buffered value to motor
output
1/write
77 (hex)
current axis
yes
Get current motor output mode
1/read
6e (hex)
global (all axes)
all axes
-