UI Robot Technology Co. Ltd.
M4120170509EN
Page 69
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
16. MCF
η / MCFxη Master Configuration Register Instruction
Format:
MCF
; or MCFx
;
Description:
Setup Master Configuration Register
1
）
If
is decimal,
Use format: MCF
;
Where,
= 0,1,…65535 (16 bits unsigned integer)
2
）
If
is hexadecimal,
Use format MCFx
;
Where,
has 2 bytes, and the structure is as follow:
Byte
0
1
Defination
D0
D1
Where,
[D1 D0] compose a hexadecimal 16bit data, D1 is high, D0 is low.
For example:
Master Configuration = 0x1234;
Then send instruction MCFx 34 12;
Each Byte must have an even number of digits or letters.
ACK:
AA 00 B0 [C0] [C1] [C2] FF
Comment:
B0
>> The Message ID of MCF
;
[C0] ~ [C2]
>> Received data 0 ~ 2
[C0] ~ [C2] is the converted value for the value of master configuration
register. (16 bits) (Figure 10-1)
Note:
If
using decimal, first convert the 16 bits binary number to a decimal
based number.
Example:
Instruction : MCF34611; or MCFx8733;
ACK: AA 05 B0 02 0E 33 FF
Comment: Convert 02 0E 33 to 16 bits (2Bytes) data, get:
0x8733 (34611 decimal).Here assume, Controller ID=5.
