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MOVE:
Parameters Passed: unit of speed, Speed, Direction, Movement type, Number of steps.
•
DIR & Movement Type
•
ANGLE Value should be multiplied by 100 and compounded to integer. e.g. 30.56˚ should be
sent as 3056
d
=> 00 00 0B F0 in HEX
•
Time Value is in Second. Factional values are not permissible. e.g. 99 seconds should be sent as
99d => 00 00 00 63 in HEX
•
STEPS value to be send directly in 32 bit HEX value e.g. 100 steps => 00 00 00 64 in HEX
•
If any Gear ratio is to be applied then while calculating the Steps or Speed, User has to take
appropriate care for gear ratio multiplication.( in short please send the Primary Values Only)
Note:
•
No. of Steps:
0 to 4194303 value
•
Unit of Speed:
Unit of Speed
VALUE
0x00
RPM
0x01
RPH
0x02
MM_PER_SEC
•
SPEED:
Ranges from 5 to 4780 RPM.(Rotary
Mode) Ranges from 5 to 4780 RPM.(Linear Mode)
Slave
Function Holding QTY of
Byte
Op-Code
Data
Address
Code
ADDR
Register
Count
1
10
0x25
5
0A
2 DIR and Unit of
Speed
No. of
Movement Speed
Steps
Type
Value
Meaning
00 or
08
Linear Movement CCW Direction
01
or 09
Linear Movement CW Direction
02
or 0A
Rotary Movement with Angle in CCW Direction
03
or 0B
Rotary Movement with Angle in CW Direction
04
or 0C
Rotary Movement with TIME in CCW Direction
05
or 0D
Rotary Movement with TIME in CW Direction
06
or 0E
Rotary Movement with No of Steps in CCW Direction
07
or 0F
Rotary Movement with No of Steps in CW Direction
