Macη Set Acceleration Rate - UIrobot UIM241 Series User Manual

UIM241 Miniature Integrated Stepper Motor Controller(
14. MACη
Format:
Description:
ACK:
Comment:
UI Robot Technology Co. Ltd.
Set Acceleration Rate
MAC;
Set the acceleration rate to .
 = 1、2 ... 65,000,000; (Pre-requiring MCFG<AM> = 0, value mode)
 = 1、2 ... 60,000; (Pre-requiring MCFG<AM> = 1, period mode)
AA 00 B1 [FG] [A0] [A1] [A2] [A3] [A4] FF
B1 >> The message ID of MAC;
[FG] >> Equal to the AM bit of the MCFG
Denote the input mode (value / period):
FG =1, unit: ms;
FG =0, unit: pps/s;
[A0] ~ [A4] >> Received data 0 ~ 4
[A0] ~ [A4] is the converted value for the value of the acceleration rate
(32 bits) (Figure 10-2).
M4120170509EN
)
Closed-loop
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