Page 60
M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
7.
CUR
η Motor Current Adjusting
Format:
CUR
;
Description:
Set the output phase current to
.
= 0,1,
…
,80 (unsigned integer)
0…80 represent 0…8.0 amps.
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
[ASB] structure:
Bit
7
6
5
4
3
2
1
0
Value
N/A(=0)
ACR
ENA / OFF
DIR
MCS – 1(
0 = full step
，
15 = 1/16 step
)
[CUR] structure:
Bit
7
6
5
4
3
2
1
0
Value
N/A(=0)
Phase Current (e.g. 27 = 2.7 Amp)
[V0] ~ [V2] is the converted value for desired speed (16 bits) (Figure 10-
1)
[P0] ~ [P4] is the converted value for
desired displacement (32 bits)
(Figure 10-2)
Note:
Value of this instruction will be stored in EEPROM.
If the received current value is not one of the above integers, an Error
ACK will be sent to the user device through RS232.
Incorrect instructions
will be discarded without being executed.
