MC1231A Datasheet, PDF (51/70 Pages) List of Unclassifed Manufacturers – Advanced Brushless Motor Control Chipset

MULTI_UPDATE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Immediately update parameters for
multiple axis
1/write
5b (hex)
set by data word
all axes
no
MULTI_UPDATE immediately updates the profile and filter 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 #
Axis # updated
0
1
1
2
2-15
unused, must be set to 0
SET_AUTO_UPDATE_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set automatic profile update on
none
5c (hex)
current
all axes
no
SET_AUTO_UPDATE_ON sets the automatic profile update
mechanism on. After this command is sent, a satisfied breakpoint
condition will result in all of the double-buffered profile and filter
parameters automatically being transferred to the active registers. Once
set to this mode, the axis will stay in this mode until explicitly
commanded out using the SET_AUTO_UPDATE_OFF command.
SET_AUTO_UPDATE_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set automatic profile update off
none
5d (hex)
current
all axes
no
SET_AUTO_UPDATE_OFF sets the automatic profile update
mechanism off. After this command is sent, a satisfied breakpoint
condition will not result in the double-buffered profile and filter
parameters automatically being transferred to the active registers. Once
set to this mode, the axis will stay in this mode until explicitly
commanded out using the SET_AUTO_UPDATE_ON command.
When in this mode, the only way that profile parameters can be
updated is through the UPDATE or the MULTI_UPDATE
commands.
GET_BRK_PNT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Get break point comparison value
2/read
57 (hex)
current axis
all axes
no
GET_BRK_PNT returns the breakpoint comparison value set using the
SET_BRK_PNT command. The returned value is a 32-bit number with
units of either servo loops or counts (depending on the current
breakpoint mode).
Interrupt Processing
SET_INTRPT_MASK
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set host interrupt mask
1/write
2f (hex)
current axis
all axes
no
SET_INTRPT_MASK sets the interrupt mask so that interrupt events
can be individually masked off. When a non-masked interrupt occurs in
any axis, the interrupt signal to the host is activated (HostIntrpt pin on
I/O chip). The host can choose to ignore or respond to the interrupt.
Once an interrupt has been generated, no new interrupts will be
generated until a RST_INTRPT command is given, after which the
interrupt signal to the host will be cleared, and a new interrupt (on any
axis) can be generated. The associated data word is encoded as a field
of bits, with each bit representing a possible interrupting condition. A 1
value in the mask bit will cause the corresponding event to generate an
interrupt, while a 0 will stop the corresponding event from interrupting
the host. The bit encoding is as follows:
Bit #
0
1
2
3
4
5
6
7
8-10
11
12-15
Event
Motion complete
position wrap-around
update breakpoint reached
position capture received
motion error
positive limit switch
negative limit switch
command error
not used, must be set to 0
commutation error
not used, may be set to 0 or 1
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