UI Robot Technology Co. Ltd.
M4120170509EN
Page 55
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
2.
ACR
η Set auto-current reduction ratio
Format:
ACR
;
Description:
set auto-current reduction ratio
= 0,1,
…
,99.
= 0, disable auto-current reduction. Standby-CUR = working current.
= 1, in standeby mode, current reduces to 50%. Standby-CUR =
working current / 2.
= 2,3,
…
,99, in standeby mode, current reduces to 2,3,
…
,99%.
Standby-CUR = working current *
/ 100.
ACK:
= 0 or
= 1, ACK is the same as ACK of “6. ENA”
= 2,3,
…
,99, ACK is as follow:
AA 00 BA [A0] FF
Comment:
BA
>> Message ID of instruction ACR
;
[A0]
>> Received data 0
，
A0 =
Note:
ACR is short for Automatic Current Reduce.
When ACR is enabled, the current will be reduced after motor stop, which
means a decrease of holding torque. Value of this instruction will be
stored in EEPROM.
= 2,3,
…
,99 require controller Firmware version being 1232 or higher.
