Page 72
M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
19. MDE
η Set Deceleration Rate
Format:
MDE
;
Description:
Set the deceleration rate to
.
= 1
、
2 … 65,000,000;(Pre-requiring MCFG<DM> = 0, value mode)
= 1
、
2 … 60,000; (Pre-requiring MCFG<DM> = 1, period mode)
ACK:
AA 00 B2 [FG] [D0] [D1] [D2] [D3] [D4] FF
Comment:
B2
>> The message ID of MDE
;
[FG]
>> Equal to the DM bit of the MCFG
的
DM
Denote the input mode (value / period):
FG =1, unit: ms;
FG =0, unit: pps/s;
[D0] ~ [D4]
>> Received data 0 ~ 4
[D0] ~ [D4] is the converted value for the value of the deceleration rate
(32 bits) (Figure 10-2 ).
