Set Torque Proportional Value – Commands controller to receive torque proportional gain value.

Send Contents: Command Tag followed by 16 bits of data [3 words].

Command Tag: 0x16

Data: 0x0000 – 0x7FFF

Response Contents: Response Tag only [1 word].

Response Tag: 0x17

Description: Commands the controller to receive the torque proportional gain factor for programming the compensation values for the torque

control digital error loop. Valid values are 0-32767. An input gain of 0 (zero) means that there will be no proportional gain at all, and that the

torque error will go directly to the duty cycle control. A value of 32767 would equal the maximum possible gain. The value is stored in non-

volatile memory and does not have to be re-introduced every time the device is powered up.

Default Data Value: 0x0CCC

4

APPLICATION NOTES CONT'D

APPLICATION NOTES CONT'D

General Error Responses:

0xFFF0 = Invalid Data for Command Sent

0xFFF1 = Invalid Data Length for Command Sent

0xFFF2 = Unrecognized Command Tag

0xFFF3 = Overflow Error; Command not processed

Get Status – Requests status of controller.

Send Contents: Command Tag only [1 word].

Command Tag: 0x10

Response Contents: Response Tag followed by 8 bits of data[2words].

Response Tag: 0x11

Data:

0x01 – Running Mode

0x02 – Brake Mode

0x03 – Disable Mode

Description: Will request status information from the controller. Status will indicate if control is in running mode, brake mode, or disable

mode.

Default Data Value: N/A

Set Disable Mode – Commands controller to halt all PWM activity to the output bridge. Bridge is then inactive.

Send Contents: Command Tag only [1 words].

Command Tag: 0x12

Response Contents: Response Tag only [1 word].

Response Tag: 0x13

Description: Commands the controller to disable the output bridge completely by shutting off all PWM modulation and all

levels necessary

to turn off all of the transistors. With the bridge now inactive, the motor can move freely. This does not reset command or PID history so

motor will resume as last commanded when it is enabled.

Default Data Value: Bridge is disabled by default.

Set Enable Mode – Commands controller to enable all PWM activity to the output bridge. Bridge is then active.

Send Contents: Command Tag only [1 words].

Command Tag: 0x14

Response Contents: Response Tag only [1 word].

Response Tag: 0x15

Description: Commands the controller to enable the output bridge. This will only have an effect if it is in disable mode or brake mode. The

motor will resume normal control and move as previously commanded.

Default Data Value: N/A

MSK 4366 CAN COMMAND SET SUMMARY

8548-120 Rev. A 4/14