UIrobot UIM2842, User Manual

Page: 16 / 108

Page 16 M4220170607EN UI Robot Technology Co. Ltd.
UIM2842
8.4 Sensor Event, Action and Binding ............................................................................................... 46
8.5 Introduction to Sensor Input Control Instructions .......................................................................... 47
8.6 Sensor Input Control Register S12CON ....................................................................................... 48
8.7 Sensor Input Control Register S34CON ....................................................................................... 48
8.8 Analog Threshold Control Register ATCONH & ATCONL............................................................. 50
8.9 Instruction List ............................................................................................................................ 50
8.10 Example of S12CON Configuration ............................................................................................. 50
8.11 Example of ATCONH, ATCONL Configuration ............................................................................. 51
9.0 Encoder and closed-loop control ............................................................................................. 53
9.1 Enable/ Disable Encoder and Closed-loop Module (MCFG).......................................................... 53
9.2 Instruction List ............................................................................................................................ 54
10.0 TTL Output control ................................................................................................................... 55
10.1 Introduction to TTL Output Control Instructions ............................................................................ 55
10.2 TTL Output Control Register S34CON ......................................................................................... 55
10.3 Output Control Configuration Instruction
（
SCF
）
........................................................................ 56
10.4 Instruction List ............................................................................................................................ 56
10.5 Example of TTL Output Control and S34CON Configuration......................................................... 57
11.0 Instruction................................................................................................................................. 58
11.1 Instruction Structure .................................................................................................................... 58
11.2 Feedback Message Structure ...................................................................................................... 58
11.3 Instruction Description ................................................................................................................ 61
1. ; Check desired motor status ....................................................................................................... 61
2. ACRη Set auto-current reduction ratio ......................................................................................... 62
3. ACR Check auto-current reduction ratio....................................................................................... 63
4. BLCη Backlash compensation ..................................................................................................... 64
5. BLC Check backlash compensation ............................................................................................ 65
6. CURη Motor Current Adjusting .................................................................................................... 66
7. DOUη Set TTL Output ................................................................................................................ 67
8. DOU Check TTL Output Level ..................................................................................................... 68
9. ENA H-Bridge Enable ................................................................................................................. 69
10. ENAη Set enable time ................................................................................................................. 70
11. ENAxFFFF Check enable time .................................................................................................... 71
12. FBK Motor Status Feedback Inquiry ............................................................................................ 72
13. ICFxη Initial Configuration Register Instruction ............................................................................. 73
14. ICF Check Initial Configuration Register ..................................................................................... 74
15. MACη Set Acceleration Rate ....................................................................................................... 75
16. MAC Check Current Acceleration Rate ........................................................................................ 76
17. MCFη / MCFxη Master Configuration Register Instruction ............................................................ 77
18. MCF Check Master Configuration Register .................................................................................. 78
19. MCSη Setup Micro Stepping ....................................................................................................... 79
20. MDEη Set Deceleration Rate ...................................................................................................... 80
21. MDE Check Current Deceleration Rate ....................................................................................... 81
22. MDLη Check Controller Model..................................................................................................... 82
23. MMDη Set Maximum Cessation Speed ....................................................................................... 83
24. MMD Check current Maximum Cessation Speed ......................................................................... 84
25. MMSη Set Maximum Starting Speed ........................................................................................... 85
26. MMS Check current Maximum Starting Speed ............................................................................. 86
27. OFF H- Bridge Disable ................................................................................................................ 87
28. ORG Reset Position Counter ...................................................................................................... 88
29. ORGη Reset Position Counter..................................................................................................... 89
30. QECη Set desired quadrature encoder’s position ......................................................................... 90
31. QEC Check Current Encoder Positon .......................................................................................... 91
32. QERη Set Quadrature Encoder Resolution .................................................................................. 92
33. QER Check Quadrature Encoder Resolution ............................................................................... 93