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UIM2842
22.
MDLη
Format:
Description:
ACK:
Comment:
Bit
Defination
Page 82
Check Controller Model
MDLη;
Check the Model, installed optional modules and firmware version of the
UIM242 controller of ID =η.
η = 5, 6 ... 125.
CC [Controller ID] DE 18 02 [CUR] [asb] [V0] [V1] [V2] FF
Note: [ ] denotes one byte, the data is hexadecimal.
DE
>> Message ID of instruction MDLη;
[CUR]
>> The Max phase current. e.g., "20" means 2.0 A.
[asb]
>> The installed optional modules and sensor ports.
[V0] ~ [V2]
>> Received data 0 ~ 2
[V0] ~ [V2] is the converted value for the firmware version (12 bits)
(Figure 12-1).
Structure of [asb] is as follow:
7
6
0
Int. QE
For example, if bit 4 is 1, the Advanced Motion Control module is installed.
M4220170607EN
5
Closed-loop
Adv. Motion
UI Robot Technology Co. Ltd.
4
3
2
1
No. of sensor port
0
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