ACR – Auxiliary Command Register (status, R/W)

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:

ACR

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