UI Robot Technology Co. Ltd.
M4120170509EN
Page 67
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
14. MAC
η Set Acceleration Rate
Format:
MAC
;
Description:
Set the acceleration rate to
.
= 1
、
2 … 65,000,000; (Pre-requiring MCFG<AM> = 0, value mode)
= 1
、
2 … 60,000; (Pre-requiring MCFG<AM> = 1, period mode)
ACK:
AA 00 B1 [FG] [A0] [A1] [A2] [A3] [A4] FF
Comment:
B1
>> The message ID of MAC
;
[FG]
>> Equal to the AM bit of the MCFG
Denote the input mode (value / period):
FG =1, unit: ms;
FG =0, unit: pps/s;
[A0] ~ [A4]
>> Received data 0 ~ 4
[A0] ~ [A4] is the converted value for the value of the acceleration rate
(32 bits) (Figure 10-2).
