UI Robot Technology Co. Ltd.
M4120170509EN
Page 71
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
18. MCS
η Setup Micro Stepping
Format:
MCS
;
Description:
Set micro-stepping resolution.
= 1,2,4,8,16 (unsigned integer);
= 1, 2, 4, 8, 16
represents the full, half, quarter, eighth and sixteenth
step resolution, respectively.
ACK:
AA 00 [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 10-
1)
[P0] ~ [P4] is the converted value for
desired displacement (32 bits)
(Figure 10-2)
Note:
Real-time update micro-stepping. MCS is short forMicrostepping.
Once received, the MCS value will be stored in the controller’s EEPROM.
