MC1231A Datasheet, PDF (53/70 Pages) List of Unclassifed Manufacturers – Advanced Brushless Motor Control Chipset

8-10
11
12-15
not used, may be set to 0 or 1
commutation error
not used, may be set to 0
GET_STATUS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Get axis status word
1/read
31 (hex)
current axis
all axes
-
GET_STATUS returns the status of the current axis.The bit encoding of
the returned word is as follows:
Bit #
0
1
2
3
4
5
6
7
8
9
10
11
12,13
14,15
Event
motion complete (1 indicates complete)
position wrap-around (1 indicates wrap)
update breakpoint reached (1 indicates reached)
position capture received (1 indicates capture has
occurred)
motion error (1 indicates motion error)
positive limit switch (1 indicates limit switch trip)
negative limit switch (1 indicates limit switch trip)
command error (1 indicates command error)
motor on/off status (1 indicates on)
axis on/off status (1 indicates on)
In-motion bit (1 indicates axis is in motion)
commutation error (1 indicates error)
current axis # (13 bit = high bit, 12 bit = low bit)
reserved (may be 0 or 1)
Bits 0-7 and 11 are set by the chipset, and must be reset by the
host (using CLR_STATUS, RST_STATUS, or RST_INTRPT
commands). Bits 8, 9, 10, 12, and 13 are continuously maintained
by the chipset and are not set or reset by the host.
GET_MODE
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Get axis mode word
1/read
48 (hex)
current axis
all axes
-
GET_MODE returns the mode word for the axis.The bit encoding of the
returned word is as follows:
Bit #
Event
0-6
Contains no host-useable information.
7
Stop on motion error mode flag. 1 indicates auto
stop is on.
8
Internal use only. Contains no host-useable data
9
Contains no host-useable information
10
Auto update flag. 1 indicates auto update is
disabled.
11,12
13-15
Trajectory profile mode, encoded as follows:
Bit 12 Bit 11 Profile Mode
0
0
trapezoidal
0
1
velocity contouring
1
0
s-curve
1
1
electronic gear
Phase # (S-curve profile only). 3-bit word encodes
phase #. Bit 15 is MSB, bit 13 is LSB.
Encoder
SET_CAPT_INDEX
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set position capture trigger source to
the index signal
none
64 (hex)
current axis
all axes
no
SET_CAPT_INDEX sets the high-speed position register trigger source
to the index signal. When the index is used as the trigger source, it is
gated by the A and B quadrature signals (see theory of operations for
details).
SET_CAPT_HOME
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set position capture trigger source to
the home signal
none
65 (hex)
current axis
all axes
no
SET_CAPT_HOME sets the high-speed position register trigger source
to the home signal.
GET_CAPT
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Return high speed capture register
2/read
36 (hex)
current axis
all axes
-
GET_CAPT returns the current value of the high-speed position capture
register, as well as resets the capture hardware so that subsequent
positions may be captured. The value returned is a 32 bit signed
number with units of counts.
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