Page 64
M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
11. FBK
Motor Status Feedback Inquiry
Format:
FBK;
Description:
Check the current motor status
ACK:
AA 00 [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF
Comment:
[ASB]
>> Received data 0
[CUR]
>> Received data 1
[V0] ~ [P4]
>> Received data 2 ~ 9
Structure of [ASB] is as follow:
Bit
7
6
5
4
3
2
1
0
Defination
N/A(=0)
ACR
ENA / OFF
DIR
MCS – 1
（
0 = full step,15 = 1/16 step)
Structure of [CUR] is as follow:
Bit
7
6
5
4
3
2
1
0
Defination
N/A(=0)
Phase Current (e.g. 27 = 2.7 Amp)
[V0] ~ [V2] is the converted value for the current motor speed. (16 bits)
(Figure 10-1)
[P0] ~ [P4] is the converted value for the current motor displacement. (32
bits) (Figure 10-2)
Note:
User can get current motor status by using this instruction at any time.
Please note: current status is different from desired status.
