參數(shù)資料
型號： MC1451A-E
廠商： Electronic Theatre Controls, Inc.
英文描述： Advanced Brushless Motor Control Chipset
中文描述： 先進的無刷電機控制芯片組
文件頁數(shù)： 40/70頁
文件大?。?/td> 474K
代理商： MC1451A-E
40
Command Summary
Command Mnemonic
Code
(hex)
Available
on
Axes acted on
Double
Buffered
#data words
/direction
Description
Axis Control
SET_1
SET_2
SET_I
Profile Generation
SET_PRFL_S_CRV
SET_PRFL_TRAP
SET_PRFL_VEL
SET_PRFL_GEAR
SET_POS
SET_VEL
SET_ACC
SET_MAX_ACC
SET_JERK
SET_RATIO
STOP/CLR_PRFL
SMOOTH_STOP
SYNCH_PRFL
GET_POS
GET_VEL
GET_ACC
GET_MAX_ACC
GET_JERK
GET_RATIO
GET_TRGT_POS
GET_TRGT_VEL
Digital Filter
SET_KP
SET_KD
SET_KI
SET_KVFF
SET_I_LM
SET_MTR_LMT
SET_MTR_BIAS
SET_POS_ERR
GET_KP
GET_KD
GET_KI
GET_KVFF
GET_I_LM
GET_MTR_LMT
GET_MTR_BIAS
GET_POS_ERR
GET_INTGR
GET_ACTL_POS_ERR
SET_AUTO_STOP_ON
SET_AUTO_STOP_OFF
Parameter Update
SET_TIME_BRK
SET_POS_BRK
SET_NEG_BRK
SET_ACTL_POS_BRK
SET_ACTL_NEG_BRK
SET_MTN_CMPLT_BRK
SET_EXT_BRK
SET_BRK_OFF
SET_BRK_PNT
UPDATE
MULTI_UPDATE
SET_AUTO_UPDATE_ON
SET_AUTO_UPDATE_OFF
GET_BRK_PNT
01
02
08
all axes
all axes
all axes
set by cmd.
set by cmd.
interrupting axis
-
-
-
1/read
1/read
1/read
Set current axis #to 1
Set current axis #to 2
Set current axis #to the interrupting axis
0b
09
0a
0c
10
11
12
15
13
14
46
4e
47
4a
4b
4c
4f
58
59
1d
1e
all axes
all axes
all axes
1
all axes
all axes
all axes
all axes
all axes
1
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
1
all axes
all axes
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
no
no
no
no
yes
yes
yes
yes
yes
yes
yes
yes
yes
-
-
-
-
-
-
-
-
0
0
0
0
Set profile mode to S-curve
Set profile mode to trapezoidal point to point
Set profile mode to velocity-contouring
Set profile mode to electronic gear
Set command position
Set command velocity
Set command acceleration
Set max acceleration (S-curve profile only)
Set command jerk
Set command electronic gear ratio
Abruptly stop current axis trajectory motion
Smoothly stop current axis trajectory motion
Set target position equal to actual position
Get command position
Get command velocity
Get command acceleration
Get max. acceleration (S-curve profile only)
Get command jerk
Get command electronic gear rate
Get current target position
Get current target velocity
2/write
2/write
2/write
1/write
2/write
2/write
0
0
0
2/read
2/read
2/read
1/read
2/read
2/read
2/read
2/read
25
27
26
2b
28
06
0f
29
50
52
51
54
53
07
2d
55
2e
60
45
44
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
yes
yes
yes
yes
yes
no
no
no
-
-
-
-
-
-
-
-
-
-
-
-
1/write
1/write
1/write
1/write
1/write
1/write
1/write
1/write
1/read
1/read
1/read
1/read
1/read
1/read
1/read
1/read
1/read
1/read
0
0
Set proportional gain
Set derivative gain
Set integral gain
Set feedforward gain
Set integration limt
Set motor output limt
Set motor output bias
Set maximumposition error limt
Get proportional gain
Get derivative gain
Get integral gain
Get velocity feedforward gain
Get integration limt
Get motor output limt
Get motor output bias
Get position error
Get integrated position error value
Get actual position error
Set auto stop on motion error mode on
Set auto stop on motion error mode off
17
18
19
1b
1c
35
5e
6d
16
1a
5b
5c
5d
57
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
all axes
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
current axis
set by mask
current axis
current axis
current axis
no
no
no
no
no
no
no
no
no
no
no
no
no
-
0
0
0
0
0
0
0
0
Set breakpoint mode to time
Set breakpoint mode to pos. target position
Set breakpoint mode to neg. target position
Set breakpoint mode to pos. actual position
Set breakpoint mode to neg. actual position
Set breakpoint mode to motion complete
Set breakpoint mode to external
Set breakpoint mode off
Set breakpoint comparison value
Immediate parameter update
Multiple axis immediate parameter update
Set automatic profile update on
Set automatic profile update off
Get breakpoint comparison value
2/write
0
1/write
0
0
2/read
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