Purpose: ACR is a 16-bit status register. It defines extra settings like: the configuration for automatic start and the external reference, operation options for the S-curve and the electronic camming modes.
TML Address: 0x0912
Contents. ACR information is structured as follows:
Bits 15-14 Reserved
Bit 13 SOLCTR. Control type for stepper open loop
0 = |
Position control with automatic external reference analogue |
1 = |
Speed control with automatic external reference analogue |
Bit 12 CAMTYPE. Electronic camming type
0 = |
Relative |
1 = |
Absolute |
Bit 11 RPOSTYPE. Relative positioning type
0 = |
Standard |
1 = |
Additive |
Bit 10 POSCTR. Position control
0 = |
Disable |
1 = |
Enable |
Bit 9 SPDCTR. Speed control
0 = |
Disable |
1 = |
Enable |
Bit 8 TCTR. Torque control
0 = |
Disable |
1 = |
Enable |
Bit 7 DIGREF. Digital external reference
0 = |
Disable |
1 = |
Enable |
Bit 6 AREF. Analogue external reference
0 = |
Disable |
1 = |
Enable |
Bits 5 RDAREF. Read analogue external reference for torque mode when “Automatically activated after Power On” is enabled
0 = |
In slow loop |
1 = |
In fast loop |
Bit 4 Reserved
Bit 3 AXISEN. Behavior at ENABLE input transitions from low to high
0 = |
Don’t execute AXISON |
1 = |
Execute AXISON |
Bit 2 DIGTYPE. Digital external reference type
0 = |
2nd encoder |
1 = |
Pulse & Direction |
Bit 1 ASTART. Start automatically after power on
0 = |
Disable |
1 = |
Enable |
Bit 0 STPSC. Stop profile for S-curve motion mode
0 = |
An S-curve profile |
1 = |
A trapezoidal profile |