Instruction List - UIrobot UIM241 Series User Manual

UIM24102/04/08-IE
0 = Disable the Origin (zero) position RTCN.
1 = Enable the Origin (zero) position RTCN. Once the value of pulsing counter
or encoder counter is zero, a message will be send to user device
automatically.
Bit4 STPIE Displacement Control (STP/POS/QEC) Completion RTCN
0 = Disable the displacement control completion RTCN.
1 = Enable the displacement control completion RTCN. Once the
Bit3 - 2 Unimplemented. Read as 0.
Bit1 S2IE
0 = Disable sensor port 2 (S2) status change RTCN
1 = Enable S2 status change RTCN
Bit0 S1IE
0 = Disable sensor port 1 (S1) status change RTCN
1 = Enable S1 status change RTCN

5.5 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
ICF;
ICF;
MCF;
MCF;
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displacementinstruction has been executed, a message will be send to user
device automatically.
S2 Status Change RTCN
S1 Status Change RTCN
Set initial configuration register
Check initial configuration register
Set master configuration register
Check master configuration register
M4120170509EN
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UI Robot Technology Co. Ltd.