UIrobot UIM2842 User Manual page 12

UIM2842
Motor Configuration
Instruction
ACR;
ACR;
CUR;
ENA;
MCS;
OFF;
Motion Control
Instruction
BLC;
BLC;
MAC;
MAC;
MDE;
MDE;
MMD
MMD;
MMS;
MMS;
ORG;
ORG;
SPD;
SPD;
STO;
STP;
STP;
Closed-Loop Control
Instruction
QECη;
QEC;
QERη;
QER;
SQTη;
I/O Control
Instruction
DOUη;
DOU;
STG;
STG;
Page 12
Description
Set auto-current reduction ratio 
Check auto-current reduction ratio
Set output phase current 
Enable H-bridge circuit
Set micro-stepping resolution
Disable H-bridge circuit
Description
Set backlash compensation value η
Check backlash compensation value
Set acceleration rate 
Check acceleration rate
Set deceleration rate 
Check deceleration rate
Set maximum cessation speed 
Check maximum cessation speed
Set maximum starting speed 
Check maximum starting speed
Set zero/origin position
Reset the position to a given value 
Set the desired speed 
Check current speed
Bind motion control parameters to sensor edge
Set desired incremental displacement 
Check current incremental displacement
Description
Set desired quadrature encoder's position η
Check current quadrature encoder's position
Set quadrature encoder's resolution η
Check quadrature encoder's resolution
Set tolerance η of blocked alarm
Description
Set output TTL levelη
Check current output TTL level
Set digital input sampling mode
Check digital input sampling mode
M4220170607EN
Feedback Message
Header ID
AA -
AA BA
AA -
AA -
AA -
AA -
Feedback Message
Header ID
AA DE
AA DE
AA B1
AA B1
AA B2
AA B2
AA B4
AA B4
AA B3
AA B3
AA B7
AA B7
AA B5
CC B2
AA D1
AA B6
CC B3
Feedback Message
Header ID
AA B8
CC B1
AA C2
AA C2
AA B8
Feedback Message
Header ID
AA C1
AA C1
AA C9
AA C9
UI Robot Technology Co. Ltd.
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