Page 96
M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
43. STP
η
Displacement Control
Format:
STP
;
Description:
Set the desired incremental displacement, i.e. the displacement relative
to current position
= - 2,000,000,000…-1, 0, 1 … + 2,000,000,000; (signed integer)
ACK:
AA 00 B6 [P0] [P1] [P2] [P3] [P4] FF
Comment:
B6
>> The message ID of STP
;
[P0] ~ [P4]
>> Received data 0 ~ 4
[P0] ~ [P4] is the converted value for the desired motor displacement (32
bits) (Figure 10-2)
Note:
Displacement is essentially defined as counts of the pulse or encoder
counter.
Actual pulse sended to motor is controlled by displacement counter. The
actual motor displacement is also relative to the micro-stepping
resolution or encoder resolution.
If an STP0; instruction is received before the former STP instruction is
completed, UIM241 will execute the current instruction and stop motor.
The former STP instruction is regarded as being completed. Meanwhile,
system will shift from PT mode to VT mode.
If an STP instruction is received while the motor is already running, the
former steps will not be counted in the displacement of current STP
instruction.
Example:
For a 1.8
°
stepper motor, if STP = 200 pulse;
User sent: STP200;
If MCS=1, motor rotation angle = 1.8 * 200 = 360
°
If MCS=16, motor rotation angle = 1.8 * 200 / 16 = 22.5
°
