UI Robot Technology Co. Ltd.
M4220170607EN
Page 29
Miniature Integrated Stepper Motor Controller(
Closed-loop
)
1 = Period mode. Unit is millisecond.
Bit8
DM
Deceleration Mode
0 =
Value mode. Unit is pps/sec, or pulse/ (square second)
1 =
Period mode. Unit is millisecond.
Bit7
Unimplemented. Read as 0.
Bit6
STLIE Locked-rotor Detection Variation Notification
0 = Disable
locked-rotor detection variation notification (only for closed-loop)
1 = Enable locked-rotor detection variation notification. Once the error between
pulsing counter and encoder counter is overstep, a message will be send to
user device automatically.
Bit5
ORGIE
Origin (Zero) Position RTCN
0 = Disable the Origin (zero) position RTCN.
1 = Enable the Origin (zero) position RTCN. Once the value of pulsing counter
or encoder counter is zero, a message will be send to user device
automatically.
Bit4
STPIE Displacement Control (STP/POS/QEC) Completion RTCN
0 = Disable the displacement control completion RTCN.
1 = Enable the displacement control completion RTCN. Once the
displacementinstruction has been executed, a message will be send to user
device automatically.
Bit3
P4IE P4 Status Change RTCN
0 = Disable P4 status change RTCN
1 = Enable P4 status change RTCN
Bit2
S3IE S3 Status Change RTCN
0 = Disable S3 status change RTCN
1 = Enable S3 status change RTCN
Bit1
S2IE S2 Status Change RTCN
0 = Disable sensor port 2 (S2) status change RTCN
1 = Enable S2 status change RTCN
Bit0
S1IE S1 Status Change RTCN
0 = Disable sensor port 1 (S1) status change RTCN
1 = Enable S1 status change RTCN
5.5 Instruction List
The following table shows the instructions mentioned in this chapter, the detail of those
instructions is descriped at the end of the document.
Instruction Description
Page
ICF
;
Set initial configuration register
73
ICF;
Check initial configuration register
74
MCF
;
Set master configuration register
77
MCF;
Check master configuration register
78
