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參數(shù)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(shù)： | 45/60頁 |
| 文件大?。?/td> | 422K |
| 代理商： | DK1241A |
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45
11,12
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.
13-15
Encoder
GET_ACTL_POS
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Return actual axis position
2/read
37 (hex)
current axis
all axes
-
GET_ACTL_POS returns the current encoder position of the current
axis. The value read is up to date to within a cycle time.The value
returned is a 32 bit signed number with units of encoder counts.
SET_CAPT_INDEX
Set position capture trigger source to
the index signal
none
64 (hex)
current axis
all axes
no
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_CAPT_INDEX sets the high-speed position register trigger source
for the current axis to the index signal. When the index is used as the
trigger source, it is gated by the A and B quadrature signals (see Pin
Descriptions Section of this manual for details).
This command will only function properly when an encoder is
attached.
SET_CAPT_HOME
Set position capture trigger source to
the home signal
none
65 (hex)
current axis
all axes
no
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
SET_CAPT_HOME sets the high-speed position register trigger source
to the home signal.
This command will only function properly when an encoder is
attached.
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 encoder counts.
This command will only function properly when an encoder is
attached.
SET_STEP_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Set number of encoder counts per ustep
none
68 (hex)
current axis
all axes
no
SET_STEP_RATIO sets the ratio of encoder counts to output
mcrosteps for the current axis used in conjunction with automatic stall
detection. The specified ratio is a 16-bit unsigned number with a range
of 0 to 32,767. The formula that should be used to set this value is:
Ratio = (Ncounts/Nmcrosteps)*256. Where Ncounts is the number of
encoder counts per motor rotation, and Nmcrosteps is the number of
output mcrosteps per motor rotation (12,800 for a 1.8 degree stepper,
3,200 for a 7.2 degree stepper). Using this equation the resultant ratio
must be an exact integer.
GET_STEP_RATIO
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Get number of encoder counts per ustep
none
6f (hex)
current axis
all axes
-
GET_STEP_RATIO returns the ratio of encoder counts to output
mcrosteps set using the SET_STEP_RATIO command. The returned
value is a 16-bit unsigned number.
SET_AUTO_STOP_ON
Data/direction:
Encoding:
Axis acted on:
Available on:
Double buffered:
Enable automatic motor shutdown
none
45 (hex)
current axis
all axes
no
SET_AUTO_STOP_ON enables automatic profile generation shutdown
upon motion error. In this mode profile generation will be disabled
(equivalent to MTR_OFF cmd) when a motion error occurs (see
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