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參數資料
| 型號： | DK1241A |
| 廠商： | Electronic Theatre Controls, Inc. |
| 英文描述： | Advanced Microstepping Motion Control Chipset |
| 中文描述： | 高級微步運動控制芯片組 |
| 文件頁數： | 46/60頁 |
| 文件大小： | 422K |
| 代理商： | DK1241A |
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46
SET_POS_ERR cmd for more info.). The profile generator can be re-
enabled using the MTR_ON cmd.
SET_AUTO_STOP_OFF
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Disables automatic motor shutdown
none
44 (hex)
current axis
all axes
no
SET_AUTO_STOP_OFF disables automatic profile generator
shutdown upon motion error. In this mode the profile generator will not
be disabled when a motion error occurs.
SET_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set position error limit
1/write
29 (hex)
current axis
all axes
no
SET_POS_ERR sets the position error limt for the automatic stall
detection facility. The error is specified as an unsigned 16-bit number
with units of encoder counts The range is 0 to 32,767. At each chipset
cycle the magnitude of the position error calculated by the stall detector
is compared with the specified position error limt. If the actual position
error exceeds the specified value, the motion error status bit is set. In
addition, if the axis has been set for automatic motor stop upon motion
error, the axis profile generation will be disabled. The loaded maximum
position error is utilized immediately. No update is required for this
command to take effect.
GET_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Get maximum position error
1/read
55 (hex)
current axis
all axes
-
GET_POS_ERR returns the maximumposition error value set using the
SET_POS_ERR command. The returned maximumposition error value
is an un signed 16-bit number with units of encoder counts.
GET_ACTL_POS_ERR
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Return current position error
1/read
60 (hex)
current axis
all axes
-
GET_ACTL_POS_ERR returns the current instantaneous position error
of the axis. The returned value represents the difference between the
actual position and the target position after the target motion, which has
units of mcrosteps has been converted into encoder counts using the
step ratio parameters (set using SET_STEP_RATIO command). The
returned value is a signed 16-bit number with units of encoder counts.
The range is -32,768 to +32,767.
Motor
SET_OUTPUT_PWM
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set motor output mode to PWM
none
3c (hex)
global (all axes)
all axes
no
SET_OUTPUT_PWMsets the motor output mode to PWM PWMmode
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 motor output mode to 16-bit DAC
none
3b (hex)
global (all axes)
all axes
no
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:
Enable profile generation
none
43 (hex)
current axis
all axes
no
MTR_ON enables the profile generator . When the profile generator is
enabled, phased sine-wave signals are generated by the trajectory
generator and output on the motor output signal lines. When it is
disabled the sine-wave position is 'frozen' and no motion can occur until
it is enabled.
After a MTR_ON command the pulse generator will be inactive
until a trajectory move is made by the host.
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