Datasheet

LM628, LM629

www.ti.com

SNVS781C –JUNE 1999–REVISED MARCH 2013

Figure 12. PWM Output Signal Format (Sign output (pin 18) not shown)

Table 2. LM628 User Command Set

(1)(2)(3)(4)

Data

Command Type Description Hex Note

Bytes

RESET Initialize Reset LM628 00 0 1

PORT8 Initialize Select 8-Bit Output 05 0 2

PORT12 Initialize Select 12-Bit Output 06 0 2

DFH Initialize Define Home 02 0 1

SIP Interrupt Set Index Position 03 0 1

LPEI Interrupt Interrupt on Error 1B 2 1

LPES Interrupt Stop on Error 1A 2 1

SBPA Interrupt Set Breakpoint, Absolute 20 4 1

SBPR Interrupt Set Breakpoint, Relative 21 4 1

MSKI Interrupt Mask Interrupts 1C 2 1

RSTI Interrupt Reset Interrupts 1D 2 1

LFIL Filter Load Filter Parameters 1E 2 to 10 1

UDF Filter Update Filter 04 0 1

LTRJ Trajectory Load Trajectory 1F 2 to 14 1

STT Trajectory Start Motion 01 0 3

RDSTAT Report Read Status Byte None 1 1, 4

RDSIGS Report Read Signals Register 0C 2 1

RDIP Report Read Index Position 09 4 1

RDDP Report Read Desired Position 08 4 1

RDRP Report Read Real Position 0A 4 1

RDDV Report Read Desired Velocity 07 4 1

RDRV Report Read Real Velocity 0B 2 1

RDSUM Report Read Integration Sum 0D 2 1

(1) Commands may be executed “On the Fly” during motion.

(2) Commands not applicable to execution during motion.

(3) Command may be executed during motion if acceleration parameter was not changed.

(4) Command needs no code because the command port status-byte read is totally supported by hardware.

Product Folder Links: LM628 LM629