UI Robot Technology Co. Ltd.
M4120170509EN
Page 89
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
36. SPD
η
Speed Adjusting
Format:
SPD
;
Description:
Set the desired speed to
.
= - 65535…-1, 0, 1 … + 65535; (signed integer)
ACK:
AA 00 B5 [V0] [V1] [V2] FF
Comment:
B5
>> The message ID for desired speed
[V0] ~ [V2]
>> Received data 0 ~ 2
[V0] ~ [V2] is the converted value for the value of desired speed. (16 bits)
(Figure 10-1)
Unit: Pluse/ Second,PPS or Hz.
The sign of speed decides direction. If no “+” or “-” specified before “x”, it
is taken as “+”.
Note:
Once H-bridge is enabled, motor starts running on receiving the
instruction SPD
(
≠
0) until another instruction
“
SPD0;
”
is given.
Example:
For a 1.8° stepper motor, if the SPD =100;
User sent: SPD100
；
If MCS=1, motor speed = 1.8 * 100 = 180
°
/sec = 30 rpm
If MCS=16, motr speed = 1.8 * 100 / 16 = 11.25
°
/sec = 1.875 rpm
