Table of Contents
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UIM2842
8.4
Sensor Event, Action and Binding ............................................................................................... 46
8.5
Introduction to Sensor Input Control Instructions .......................................................................... 47
8.6
Sensor Input Control Register S12CON ....................................................................................... 48
8.7
Sensor Input Control Register S34CON ....................................................................................... 48
8.8
Analog Threshold Control Register ATCONH & ATCONL............................................................. 50
8.9
Instruction List ............................................................................................................................ 50
8.10
Example of S12CON Configuration ............................................................................................. 50
8.11
Example of ATCONH, ATCONL Configuration ............................................................................. 51
9.0
Encoder and closed-loop control ............................................................................................. 53
9.1
Enable/ Disable Encoder and Closed-loop Module (MCFG).......................................................... 53
9.2
Instruction List ............................................................................................................................ 54
10.0
TTL Output control ................................................................................................................... 55
10.1
Introduction to TTL Output Control Instructions ............................................................................ 55
10.2
TTL Output Control Register S34CON ......................................................................................... 55
10.3
Output Control Configuration Instruction（SCF） ........................................................................ 56
10.4
Instruction List ............................................................................................................................ 56
10.5
Example of TTL Output Control and S34CON Configuration......................................................... 57
11.0
Instruction................................................................................................................................. 58
11.1
Instruction Structure .................................................................................................................... 58
11.2
Feedback Message Structure ...................................................................................................... 58
11.3
Instruction Description ................................................................................................................ 61
1.
; Check desired motor status ....................................................................................................... 61
2.
ACRη Set auto-current reduction ratio ......................................................................................... 62
3.
ACR Check auto-current reduction ratio....................................................................................... 63
4.
BLCη Backlash compensation ..................................................................................................... 64
5.
BLC Check backlash compensation ............................................................................................ 65
6.
CURη Motor Current Adjusting .................................................................................................... 66
7.
DOUη Set TTL Output ................................................................................................................ 67
8.
DOU Check TTL Output Level ..................................................................................................... 68
9.
ENA H-Bridge Enable ................................................................................................................. 69
10.
ENAη Set enable time ................................................................................................................. 70
11.
ENAxFFFF Check enable time .................................................................................................... 71
12.
FBK Motor Status Feedback Inquiry ............................................................................................ 72
13.
ICFxη Initial Configuration Register Instruction ............................................................................. 73
14.
ICF Check Initial Configuration Register ..................................................................................... 74
15.
MACη Set Acceleration Rate ....................................................................................................... 75
16.
MAC Check Current Acceleration Rate ........................................................................................ 76
17.
MCFη / MCFxη Master Configuration Register Instruction ............................................................ 77
18.
MCF Check Master Configuration Register .................................................................................. 78
19.
MCSη Setup Micro Stepping ....................................................................................................... 79
20.
MDEη Set Deceleration Rate ...................................................................................................... 80
21.
MDE Check Current Deceleration Rate ....................................................................................... 81
22.
MDLη Check Controller Model..................................................................................................... 82
23.
MMDη Set Maximum Cessation Speed ....................................................................................... 83
24.
MMD Check current Maximum Cessation Speed ......................................................................... 84
25.
MMSη Set Maximum Starting Speed ........................................................................................... 85
26.
MMS Check current Maximum Starting Speed ............................................................................. 86
27.
OFF H- Bridge Disable ................................................................................................................ 87
28.
ORG Reset Position Counter ...................................................................................................... 88
29.
ORGη Reset Position Counter..................................................................................................... 89
30.
QECη Set desired quadrature encoder's position ......................................................................... 90
31.
QEC Check Current Encoder Positon .......................................................................................... 91
32.
QERη Set Quadrature Encoder Resolution .................................................................................. 92
33.
QER Check Quadrature Encoder Resolution ............................................................................... 93
Page 16
M4220170607EN
UI Robot Technology Co. Ltd.
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