Register
Bit
Turn this bit to 1 for following functionality
turned by external force, NXTMMX will try to restore
it to last specified Encoder position). If this bit is
zero, the motor may float.
Bit 6
Timed control of your motor.
The NXTMMX will
honor the time specified value in ‘Time to run’ register
and run the motor for specified time. (If Time control
bit as well as Encoder Control bit is on, the Timed
control has precedence over encoder control).
Most
significant
bit (bit 7)
GO.
When this bit is set to 1, all above bit values are
brought into effect. This is useful to synchronized
starting of both motors. As it takes some time to write
each motor’s register values. The I2C command ’S’ can
be used to change these bits to 1 for both motors at
once.
Motor Status Register Explained
Each motor has one status register. Each bit in status register
indicates various situations with the motor as explained below.
Register
Bit
Value 1 indicates the situation is true
Least
significant
bit (bit 0)
Speed Control is ON.
Motor is programmed to move
at a fixed speed.
Bit 1
Motor is Ramping (up or down).
If the Power ramp is
enabled, this bit is 1 while the motor is ramping (while
changing its speed).
Bit 2
Motor is powered.
(This may not mean motor is
moving.)
Bit 3
Positional Control is ON.
The motor is either moving
towards desired encoder position or holding its
position.
Bit 4
Motor is in Brake mode.
(0 value of this bit means
motor is floating).
Bit 5
Motor is overloaded.
If the external load prevents
motor from achieving desired speed, this bit is set to
1.
Bit 6
Motor is in timed mode.
This bit is 1 while the motor
is programmed to move for given duration.
Most
significant
bit (bit 7)
Motor is stalled.
The external load caused the motor
to stop moving.
Running Motors for Unlimited Duration
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