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UIM241 Miniature Integrated Stepper Motor Controller(
18.
MCSη
Format:
Description:
ACK:
Comment:
Bit
Value
Bit
Value N/A(=0)
Note:
UI Robot Technology Co. Ltd.
Setup Micro Stepping
MCS;
Set micro-stepping resolution.
= 1,2,4,8,16 (unsigned integer);
= 1, 2, 4, 8, 16 represents the full, half, quarter, eighth and sixteenth
step resolution, respectively.
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)
Real-time update micro-stepping. MCS is short forMicrostepping.
Once received, the MCS value will be stored in the controller's EEPROM.
M4120170509EN
5
4
3
DIR
MCS – 1(
5
4
3
Phase Current (e.g. 27 = 2.7 Amp)
Closed-loop
2
1
0
0 = full step，15 = 1/16 step
2
1
0
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