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UIM2842
8.8 Analog Threshold Control Register ATCONH & ATCONL
ATCONH（Analog Threshold Control High）and ATCONL define the upper and lower limit
of the analog threshold. Both registers are 16bits registers in the controller memory space,
configured through SCF instructions. However, when configuring, user needs to affix a
4bits suffix-code to point to a specific register. The suffix-code for ATCONL is 0010 (binary),
the suffix-code for ATCONH is 0011 (binary).
ATCONH structure is as follows:
Bit
15
14
13
Reserved
Defination
Bit 15-12 Unimplemented, read as 0.
Bit 11-0 AH<11:0> Upper limit of analog threshold.
ATCONL structure is as follows:
Bit
15
14
Reserved
Defination
位 15-12 Unimplemented, read as 0.
位 11-0
AL<11:0> Lower limit of analog threshold.
Note: ATCONH / ATCONL input range is 0 ~ 4095, with 0 corresponding to 0V and 4095
corresponding to 5V. (4095 is the maximum of a 12bits data).
8.9 Instruction List
The following table shows the instructions mentioned in this chapter, the detail of those
instructions is descriped at the end of the document.
Instruction Description
SCF;
SCF;
SFB;
STG;
STG;
STO;
STO;
8.10 Example of S12CON Configuration
When configuring S12CON, user needs to first fill every bit of the S12CON according to
the information provided in previous sections, and then affixes the suffix code 0000 (binary).
An example is provided below.
System Description
A reciprocating mobile platform has one ON/OFF stroke limit sensor at each end. When
the mobile table hit the sensor, a 0V presents.
Requirements:
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12
11
10
9
13
12
11
10
9
Set sensor control configuration register η
Check sensor control configuration register
Check sensor status
Set digital input sampling mode
Check digital input sampling mode
Store motion control parameters
Bind motion control parameters to sensor edge
M4220170607EN
8
7
6
5
4
AH <11:0>
8
7
6
5
4
AL <11:0>
3
2
1
0
3
2
1
0
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102
104
错误!未
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签。
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UI Robot Technology Co. Ltd.
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