Page 94
M4220170607EN
UI Robot Technology Co. Ltd.
UIM2842
34. SCF
η / SCFxη Set Sensor Configuration
Format:
SCF
; or SCFx
;
Description:
Configure S12CON
、
S34CON
、
ATCONH and ATCONL.
1
）
When
is decimal:
Instruction type is SCF
;
Where,
= 0,1 … 1048575 (24 bits unsigned integer)
Refer to Chapter 8.
2
）
When
is hexadecimal:
Instruction is SCFx
;
Where
has 3 bytes, the structure is as follow:
Byte
0
1
2
Defination
D0
D1
IDX
Where,
[D1 D0] compose a hexadecimal 16bit data, D1 is high, D0 is low.
IDX = 0,1,2,3 denotes configuration of S12CON, S34CON, ATCONH
and ATCONL separately.
Example:
Set S12CON as 0x1234;
Then send instruction SCFx 34 12 00; (00 is suffix)
Each Byte must have an even number of digits or letters.
ACK:
AA [Controller ID] C0 [S0] [S1] [S2] [S3] [S4] [AL0] [AL1] [AH0] [AH1] FF
Comment:
C0
>> The message ID of SCF
;
[S0] ~ [S4]
>> Received data 0 ~ 4
[AL0] ~ [AL1] >> Received data 5 ~ 6
[AH0] ~ [AH1] >> Received data 7 ~ 8
[S0] ~ [S4] is the converted value for [S34CON : S12CON] (32 bits)
(Figure 12-2), where, 16 bits high denotes S34CON, 16 bits low denotes
S12CON.
[AL0] [AL1] is the converted value for lower limit of analog threshold
ATCONL (12 bits) (Figure 12-1 )
[AH0] [AH1] is the converted value for upper limit of analog threshold
ATCONH (12 bits) (Figure 12-1 )
Note:
The suffix-code for S12CON is 00 (hexadecimal)