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UIM24102/04/08-IE
10.3 Instruction Description
This section describes the detail of the instructions mentioned in this document. (In the
alphabetic order)
1.
; Check desired motor status
Format:
Description:
ACK:
Comment:
Bit
Value
Bit
Value N/A(=0)
Page 54
;
Check desired motor status
AA 00 [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF
[ASB]
>> Received data 0
[CUR]
>> Received data 1
[V0] ~ [P4]
>> Received data 2 ~ 9
[ASB] structure:
7
6
N/A(=0)
ACR
ENA / OFF
[CUR] structure:
7
6
[V0] ~ [V2] is the converted value for desired speed (16 bits) (Figure 10-
1)
[P0] ~ [P4] is the converted value for desired displacement (32 bits)
(Figure 10-2)
M4120170509EN
5
4
3
DIR
MCS – 1(
5
4
3
Phase Current (e.g. 27 = 2.7 Amp)
UI Robot Technology Co. Ltd.
2
1
0
0 = full step，15 = 1/16 step
2
1
0
)
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