Mdeη Set Deceleration Rate - UIrobot UIM241 Series User Manual

UIM24102/04/08-IE
19. MDEη
Format:
Description:
ACK:
Comment:
Page 72
Set Deceleration Rate
MDE;
Set the deceleration rate to .
 = 1、2 ... 65,000,000;(Pre-requiring MCFG<DM> = 0, value mode)
 = 1、2 ... 60,000; (Pre-requiring MCFG<DM> = 1, period mode)
AA 00 B2 [FG] [D0] [D1] [D2] [D3] [D4] FF
B2 >> The message ID of MDE;
[FG] >> Equal to the DM bit of the MCFG 的 DM
Denote the input mode (value / period):
FG =1, unit: ms;
FG =0, unit: pps/s;
[D0] ~ [D4] >> Received data 0 ~ 4
[D0] ~ [D4] is the converted value for the value of the deceleration rate
(32 bits) (Figure 10-2 ).
M4120170509EN UI Robot Technology Co. Ltd.