UI Robot Technology Co. Ltd.
M4220170607EN
Page 61
Miniature Integrated Stepper Motor Controller(
Closed-loop
)
11.3 Instruction Description
This section describes the detail of the instructions mentioned in this document. (in the
alphabetic order)
1.
; Check desired motor status
Format:
;
Description:
Check desired motor status
ACK:
AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF
Comment:
[ASB]
>> Received data 0
[CUR]
>> Received data 1
[V0] ~ [P4]
>> Received data 2 ~ 9
[ASB] structure:
Bit
7
6
5
4
3
2
1
0
Value
N/A(=0)
ACR
ENA / OFF
DIR
MCS – 1(
0 = full step
，
15 = 1/16 step
)
[CUR] structure:
Bit
7
6
5
4
3
2
1
0
Value
N/A(=0)
Phase Current (e.g. 27 = 2.7 Amp)
[V0] ~ [V2] is the converted value for desired speed (16 bits) (Figure 12-
1)
[P0] ~ [P4] is the converted value for
desired displacement (32 bits)
(Figure 12-2)
