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UIM24102/04/08-IE
11.
FBK
Format:
Description:
ACK:
Comment:
Bit
Defination
Bit
Defination N/A(=0)
Note:
Page 64
Motor Status Feedback Inquiry
FBK;
Check the current 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
Structure of [ASB] is as follow:
7
6
N/A(=0)
ACR
ENA / OFF
Structure of [CUR] is as follow:
7
6
[V0] ~ [V2] is the converted value for the current motor speed. (16 bits)
(Figure 10-1)
[P0] ~ [P4] is the converted value for the current motor displacement. (32
bits) (Figure 10-2)
User can get current motor status by using this instruction at any time.
Please note: current status is different from desired status.
M4120170509EN
5
4
3
DIR
MCS – 1（0 = full step,15 = 1/16 step)
5
4
3
Phase Current (e.g. 27 = 2.7 Amp)
UI Robot Technology Co. Ltd.
2
1
0
2
1
0
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