[问答]

CONFIG寄存器中SW_MODE位的问题

问答对人有帮助，内容完整，我也想知道答案 0 我想在我的电机归位时启用HardStop中断（即SW_MODE = 0），然后在之后禁用它，以便随后的移动不会触发中断。在通过GoUntil和ReleaseSW开始归位之前启用中断可以正常工作。我检查了STATUS和CONFIG寄存器以确认没有任何故障条件，并且当我发送命令以启用硬停止中断时SW_MODE位被清除。在调用GoUntil或ReleaseSW之后，我的每次设置SW_MODE的命令都失败了。我在STATUS寄存器中得到一个NOTPERF_CMD错误标志，正如预期的那样，未设置SW_MODE位。到目前为止，我可以设置SW_MODE的唯一方法是之后我使用任何禁用桥的HiZ命令。但是，这不是我想要的，因为当桥梁被禁用时轴会掉落！奇怪的是，在归位之后，在一段未知的时间之后，我可以发送命令来设置SW_MODE并且它不会产生NOTPERF_CMD标志。任何人都可以推荐用于确定为什么我在GoUntil或ReleaseSW之后立即获得NOTPERF_CMD的策略？ #notperf_cmd＃l6470 #sw_mode 以上来自于谷歌翻译以下为原文 I'd like to enable the HardStop interrupt (i.e. SW_MODE = 0) when I home my motor and then disable it afterward so that subsequent moves do not trigger the interrupt. Enabling the interrupt before I start homing via GoUntil and ReleaseSW work fine. I checked the STATUS and CONFIG registers to confirm that there aren't any fault conditions, and that the SW_MODE bit is cleared when I send my command to enable the hardstop interrupt. Following any call to GoUntil or ReleaseSW, my command to set SW_MODE fails every time. I get a NOTPERF_CMD error flag in the STATUS register and as expected, the SW_MODE bit is not set. So far, the only way I can set SW_MODE is after I use any HiZ command that disables the bridges. However, this is not what I want because the axis will drop when the bridges are disabled! What is strange is that after homing, and after some unknown period of time, I can send a command to set SW_MODE and it doesn't result in a NOTPERF_CMD flag. Can anyone recommend strategies for determining why I'm getting NOTPERF_CMD immediately after GoUntil or ReleaseSW? #notperf_cmd #l6470 #sw_mode 0
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答案对人有帮助，有参考价值 0 嗨， CONFIG寄存器被“保护”，如果功率级被使能，则无法写入（参见数据表）。为了获得您描述的行为，您可以使用FLAG输出作为中断器检测SW下降沿，并在检测到事件时发送HardStop命令。问候恩里科以上来自于谷歌翻译以下为原文 Hi, the CONFIG register is ''protected'' and you cannot write it if the power stage is enabled (see datasheet). In order to obtain the behavior you described you could detect the SW falling-edge using the FLAG output as an interrupr and send an HardStop command when the event is detected. Regards Enrico

2019-5-13 14:15:11 评论举报刘璐

答案对人有帮助，有参考价值 0 感谢您的回复，恩里科。这基本上就是我认为的问题，但令我感到困惑的是，在我运行的测试的其他地方，我能够通过限位开关驱动电机，这意味着SW_MODE在某些时候被禁用了......但是如果桥梁被禁用，那么轴线就会下降，而这种情况并没有发生。我会再研究一下！以上来自于谷歌翻译以下为原文 Thank you for your response, Enrico. That's basically what I figured was the problem, but what confused me was that elsewhere in the tests that I run, I'm able to drive the motor past the limit switch, which means that the SW_MODE was disabled at some point... but if the bridges were disabled, the axis would have fallen, and that didn't happen. I'll look into it some more!

2019-5-13 14:27:11 评论举报张厉界