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UIM241 Miniature Integrated Stepper Motor Controller(
AA denotes a basic ACK message, is a kind of reply to instructions received.
1.
ASM (Assembled byte) structure:
2.
Bit
7
value
N/A(=0)
ACR
CUR (desired phase current) structure:
3.
Bit
7
value N/A(=0)
SPD2 – SPD0 denotes the desired motor speed. See Figure 10-1 for how to convert
4.
to a signed 16bit integer.
STP4 – STP0 denotes the desired motor displacement. See Figure 10-2 for how to
5.
convert to a signed 32bit integer.
6.3 Motor Status Feedback Message
Upon receiving the FBK instruction, the controller will send back the feedback message
comprising the following up-to-date motor status: incremental displacement, speed,
direction, micro-stepping resolution, and phase current, enabled/offline status and ACR
status.
The feedback Message is 13 bytes long in the following format:
Byte
1
2
Value
CC
0
Where,
CC denotes a Motor Status Feedback Message. (i.e., the present value of motor status)
1.
[ASB] (assembled) byte structure:
2.
Bit
7
value
N/A(=0)
ACR
[CUR] (current phase current) structure
3.
Bit
7
value N/A(=0)
SPD2 – SPD0 denotes the current motor speed. See Figure 10-1 for how to convert
4.
to a signed 16bit integer.
STP4 – STP0 denotes the current motor displacement. See Figure 10-2 for how to
5.
convert to a signed 32bit integer.
For more details on above conversion, please refer to the source code of the provided
demo software. These software and related source code are VC++/VB based and free.
UI Robot Technology Co. Ltd.
6
5
4
ENA / OFF
DIR
6
5
4
Phase Current (e.g. 27 = 2.7 Amp)
3
4
5
ASB
CUR
SPD2 SPD1 SPD0 STP4 STP3 STP2 STP1 STP0
6
5
4
ENA / OFF
DIR
6
5
4
Phase Current (e.g. 27 = 2.7 Amp)
M4120170509EN
3
2
1
MCS – 1（0=full step，15=1/16 step)
3
2
1
6
7
8
9
3
2
1
MCS – 1（0=full step，15=1/16 step)
3
2
1
Closed-loop
0
0
10
11
12
13
FF
0
0
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)
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