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: Bits 15-14 Reserved Bit 13 SOLCTR. Control type for stepper open loop
Bit 12 CAMTYPE. Electronic camming type
Bit 11 RPOSTYPE. Relative positioning type
Bit 10 POSCTR. Position control
Bit 9 SPDCTR. Speed control
Bit 8 TCTR. Torque control
Bit 7 DIGREF. Digital external reference
Bit 6 AREF. Analogue external reference
Bits 5 RDAREF. Read analogue external reference for torque mode when “Automatically activated after Power On” is enabled
Bit 4 Reserved Bit 3 AXISEN. Behavior at ENABLE input transitions from low to high
Bit 2 DIGTYPE. Digital external reference type
Bit 1 ASTART. Start automatically after power on
Bit 0 STPSC. Stop profile for S-curve motion mode
|