User manual

PoStep60 user manual
31
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8.3.27 0x43 – Read deceleration
To read PoStep deceleration first Master writes 0x43 command (no data bytes are needed). In a next
step Master reads two bytes of data. Calculated deceleration is:
deceleration/steps/s
2
= BYTE1 * 256 + BYTE0 = BYTE1 << 8 | BYTE0
8.3.28 0x44 – Read current speed
To read PoStep current speed first Master writes 0x44 command (no data bytes are needed). In a
next step Master reads two bytes of data. Calculated deceleration is:
current speed/steps/s = BYTE1 * 256 + BYTE0 = BYTE1 << 8 | BYTE0
8.3.29 0x45 – Read requested speed
To read PoStep requested speed first Master writes 0x45 command (no data bytes are needed). In a
next step Master reads two bytes of data. Calculated requested speed is:
requested speed/steps/s = BYTE1 * 256 + BYTE0 = BYTE1 << 8 | BYTE0
8.3.30 0x46 – Read Auto run invert direction status
To read PoStep Auto run invert direction status first Master writes 0x46 command (no data bytes are
needed). In a next step Master read one byte of data. Calculated direction is:
Auto run invert direction = BYTE0 & 0x01
8.3.31 0x50 – Set position
To set required position of internal position controller Master writes 0x50 command followed by four
bytes of data where:
MSB
Required position (32 bit)
LSB
BYTE3
BYTE2
BYTE1
BYTE0
8.3.32 0x51 – Set maximal speed
To set required maximal speed of internal position controller Master writes 0x51 command followed
by two bytes of data where:
MSB
Maximal speed (16 bit)
LSB
BYTE1
BYTE0
8.3.33 0x52 – Set acceleration
writes 0x52 command followed by two bytes of data where:
MSB
Acceleration (16 bit)
LSB
BYTE1
BYTE0
8.3.34 0x53 – Set deceleration
Master writes 0x53 command followed by two bytes of data where:
MSB
Deceleration (16 bit)
LSB
BYTE1
BYTE0
NOTE!
Set position and internal position control profile settings are applicable only when
driver is in Position control or BINx buttons mode. To enable position control over
I2C after reset and (in standalone mode) please enable BINx buttons mode and write
values to driver.