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M4220170607EN
UI Robot Technology Co. Ltd.
UIM2842
22. MDL
η Check Controller Model
Format:
MDLη;
Description:
Check the Model, installed optional modules and firmware version of the
UIM242 controller of ID =η.
η = 5, 6 … 125.
ACK:
CC [Controller ID] DE 18 02 [CUR] [asb] [V0] [V1] [V2] FF
Note: [ ] denotes one byte, the data is hexadecimal.
Comment:
DE
>> Message ID of instruction MDLη;
[CUR]
>> The Max phase current. e.g., “20” means 2.0 A.
[asb]
>> The installed optional modules and sensor ports.
[V0] ~ [V2]
>> Received data 0 ~ 2
[V0] ~ [V2] is the converted value for the firmware version (12 bits)
(Figure 12-1).
Structure of [asb] is as follow:
Bit
7
6
5
4
3
2
1
0
Defination
0
Int. QE
Closed-loop
Adv. Motion No. of sensor port
For example, if bit 4 is 1, the Advanced Motion Control module is installed.
