DK1241A View Datasheet(PDF) - PMD
Part Name
Description
Manufacturer
DK1241A Datasheet PDF : 60 Pages
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SET_1
SET_ACCEL
UPDATE
00001234
-> sets current axis to #1
-> loads current axis (#1) with
acceleration value 1234
-> causes the loaded value to take
effect (axis # 1)
Axis Status
The MC1241A supports a status word for each axis, which contains
various information about the state of the axis.
The status word is a 16-bit register which can be queried using the
command GET_STATUS. It contains the following information (Bit
encoding is 0 = LSB, 15 = MSB):
Bit #
0
1
2
3
4
5
6
7
8
9
10
11
12,13
14,15
Description
Motion complete flag. This bit is set (1) when the axis
trajectory has completed. This flag is only valid for the S-
curve and trapezoidal, and velocity contouring profile
modes.
Wrap-around condition flag. This bit is set (1) when the axis
has reached the end of its travel range,and has wrapped to
the other end of the travel range. Specifically, when
travelling in a positive direction past the position
+1,073,741,823, the axis will wrap to position -
1,073,741,824, and vice-versa.
Breakpoint reached flag. This bit is set (1) when one of the
breakpoint conditions has occurred.
Index pulse received flag. This bit is set (1) when an index
pulse has been received.
Motion error flag. This bit is set (1) when the position error is
exceeded (see filter section for more information). This bit
can only be reset when the axis is no longer in a motion
error condition
Positive limit switch flag. This bit is set (1) when the positive
limit switch goes active.
Negative limit switch flag. This bit is set (1) when the
negative limit switch goes active.
Command error flag. This bit is set (1) when a command
error has occurred.
motor on/off status (1 indicates motor is on, 0 indicates
motor is off).
axis on/off status (1 indicates on, 0 indicates off).
In-motion flag. This bit continuously indicates whether or not
the axis trajectory is in motion. This bit is set (1) when the
axis is in motion, and cleared (0) when the axis trajectory is
not in motion.
reserved (may contain 0 or 1)
current axis # (13 bit = high bit, 12 bit = low bit). Therefore
axis encoding is as follows:
Bit 13 Bit12 Axis
0
0
1
0
1
2
reserved (may contain 0 or 1)
Bits 8-10 and 12-13 indicate continuous status information, and do not
need to be reset by the host.
Bits 0-7 indicate various status flags that can also generate host
interrupts (see next section for details). These flags are set by the
chipset, and must be reset by the host (They will not be cleared by the
chipset).
Bits 0-7 of the status word operate using a set/reset mechanism.
These flags are set by the chipset, and must be reset by the host.
If they are not reset by the host they will remain active indefinitely.
Miscellaneous Mode Status Word
There is another status word available that indicates the current status
of various mode settings or conditions.
The miscellaneous mode status word is a 16-bit register which can be
queried using the command GET_MODE. It contains the following
information (Bit encoding is 0 = LSB, 15 = MSB):
Bit #
0-6
7
8-9
10
11,12
13-15
Description
Used internally by chipset. Contains no host-useable
information.
Stop on motion error mode flag. This bit indicates the state
of the stop on motion error mode, set by the commands
SET_AUTO_STOP_ON and SET_AUTO_STOP_OFF. A 1
indicates auto stop is on.
Used internally by chipset. Contains no host-useable
information.
Auto update flag. This bit indicates the state of the auto
update mode, set using the commands
SET_AUTO_UPDATE_ON and
SET_AUTO_UPDATE_OFF. A 1 indicates that auto update
is disabled.
Trajectory generator mode. This bit indicates the mode of
the trajectory generator, set using the commands
SET_PRFL_S_CRV, SET_PRFL_TRAP, SET_PRFL_VEL,
SET_PRFL_GEAR. The encoding is as follows:
Bit 12 Bit11 Profile Mode
0
0
trapezoidal
0
1
velocity contouring
1
0
s-curve
1
1
electronic gear
Phase #. These bits indicate the current phase # of the S-
curve profile (only valid if the current profile mode is S-
curve). A 0 indicates that the profile has not started yet, and
phases 1-7 indicate the phase #'s corresponding to the
phases described in the S-curve profiling mode. The 3-bit
phase # word is encoded bit 15 MSB, and bit 13 LSB.
Host Interrupts
In many situations, during axis motion or at other times, it is useful to
have the chip set signal the host that a special condition has occurred.
This is generally more convenient and efficient than having the host poll
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