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3.4
Global Register Instruction (gREG)
Instruction gREG
Function
Record the quantity of all subsidiary UIM242 controllers and their IDs
Syntax
gREG;
0xCC [QTY] 0xD0 A1 A2 A3 A4 A5 A6 A7 A8 0xFF
QTY is the quantity of UIM242xx controllers found.
0xD0 is the Message ID of gREG. (Notice, 0xD0 also is the Message ID of ADR.
Feedback
However, ACK message of ADR is started with 0xAA, while the feedback
message of gREG is started with 0xCC. )
A1~A8 are the first 8 IDs found. Ax=0 means not found.
Once this instruction is executed by the UIM2501 Controller, the total number of
Comment
all subsidiary UIM242xx controllers and their ID are recorded in the UIM2501
controller. The returned QTY servers as an indicator of the health of the network.
3.5
Global Motor Enable Instruction (gENABLE)
Instruction gENABLE
Function
Enable the H-Bridge of all UIM242xx Controller
Syntax
gENABLE;
ACK
0xAA [QTY] 0xAD 0xFF
User can first set the motion parameters to every UIM242xx Controller one by
Comment
one, and then issue this instruction to enable all motors' motion.
3.6
Global Motor Disable Instruction (gOFFLINE)
Instruction gOFFLINE
Function
Disable the H-Bridge of all UIM242xx Controller
Syntax
gOFFLINE;
ACK
0xAA [QTY] 0xAD 0xFF
Comment
User can shutdown all motors using this instruction, especially in emergency.
UI Robot Technology Co. LTD
Variable
N/A
Variable
N/A
Variable
N/A
M25020101008EN
UIM2501
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