Spdη Speed Adjusting - UIrobot UIM2842 User Manual

UIM2842
37. SPDη
Format:
Description:
ACK:
Comment:
Note:
Example:
Page 98
Speed Adjusting
SPD;
Set the desired speed to .
 = - 65535...-1, 0, 1 ... + 65535; (signed integer)
AA [Controller ID] B5 [V0] [V1] [V2] FF
B5 >> The message ID for desired speed
[V0] ~ [V2] >> Received data 0 ~ 2
[V0] ~ [V2] is the converted value for the value of desired speed. (16 bits)
(Figure11-1)
Unit: Pluse/ Second,PPS or Hz.
The sign of speed decides direction. If no "+" or "-" specified before "x", it
is taken as "+".
Once H-bridge is enabled, motor starts running on receiving the
instruction SPD (≠0) until another instruction "SPD0;" is given.
For a 1.8° stepper motor, if the SPD =100;
User sent: SPD100；
If MCS=1, motor speed = 1.8 * 100 = 180
If MCS=16, motr speed = 1.8 * 100 / 16 = 11.25
M4220170607EN
/sec = 30 rpm
°
/sec = 1.875 rpm
°
UI Robot Technology Co. Ltd.