Stoη Parameter Banding - UIrobot UIM2842 User Manual

Miniature Integrated Stepper Motor Controller(
42. STOη
Format:
Description:
ACK:
Comment:
Note:
Example:
UI Robot Technology Co. Ltd.
Parameter Banding
STO;
Banding motion parameters to motions (Triggered by sensor edge or
controllered by instruction)
 = 0,1,...,7
 = 0, >> Montion controlled by instrcution
 = 1, >> Only for close-loop
 = 2, >> Motion triggered by rising edge of S1
 = 3, >> Motion triggered by falling edge of S1
 = 4, >> Motion triggered by rising edge of S2
 = 5, >> Motion triggered by falling edge of S2
 = 6, >> Motion triggered by rising edge of S3
 = 7, >> Motion triggered by falling edge of S3
The motion parameters include:
1) acceleration
2) deceleration
3) maximum starting speed
4) maximum stopping speed
For sensors, they also include:
5) speed
6) displacement increment
AA [Controller ID] D1 FF
D1 >> Message ID of instruction STO;
Require controller hardware version being 1232 or higher.
This instruction will affect real time performance. It takes around 15 ms
for the instruction to be executed. It is recommended that sending this
instruction when the motor is idle, and wait 20ms before sending other
instructions. Before set parameters, disable the controller first.
Default setting for STO0: 300/300/0/0/0/0, it can be configurated by
instruction.
Parameters for each edge can be different. Not all parameters are
needed; the non-value parameter will be assigned as the value of
parameters for STO0
Disable the controller: OFF;
M4220170607EN
)
Closed-loop
Page 103