Basic Instruction Acknowledgment (Ack) - UIrobot UIM2842 User Manual

UIM2842
Position Velocity Tracking (PVT)
Position Velocity Tracking (PVT) mode is an extended mode of Position Tracking (PT)
mode. In this mode, user can enter both desired position and desired speed.
UIM2842 controller will instruct motor to run at the desired speed until it reaches the desired
position and then stop. User can enter, successively or discontinuously, both desired speed
and desired position. Shifting between the three modes is displayed in the following chart:
Figure6-3 Shifting between Motion Control Modes
Power up
1) H-bridge
circuit working
2)
can accept,
operate instructions
VT Mode
1) Approach
speed
2) Keep running at the desired
speed
3) Set the desired speed at 0
to stop

6.2 Basic Instruction Acknowledgment (ACK)

Upon receiving an instruction, the UIM2842 controller will immediately send back an
Acknowledgment (ACK) message. There are only two ACK messages for all of them, as
described below.
Error Message
If the received instruction is incorrect, UIM2842 will issue an error message and the
incorrect instruction will not be executed.
EE [Error Code] FF
Where, EE denotes an error message.
The error code is list below:
Error Code
Syntax Error Value Error
Meaning
Basic ACK Message
Page 32
offline
disabled, logic
buffer and
Instruction ENA;
Instruction STP 0;
the desired
Instruction STP;
Instruction QEC;
65 66
M4220170607EN
Instruction OFF;
PT Mode
1) set the desired speed, and then set the desired
position (or displacement)
discontinuously
2) approach the desired speed while making sure the
desired position is achieved
3) keep running at the desired speed
4) stop after reaching the desired position
{SPD;QEC;}
{SPD;STP;}
PVT Mode
1) set the desired speed
displacement) successively or discontinuously
2) approach the desired speed while making sure the
desired position is achieved
3) keep running at the desired speed
4) stop after reaching the desired position
UI Robot Technology Co. Ltd.
successively or
Instruction STP;
Instruction QEC;
and position (or