Zikodrive ZD10UART Series, Руководство по эксплуатации

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730
Incremental Commands
These commands will work from any position and does not reference itself to a fixed home
position. They will run for either an infinite time in one or the other direction or several steps in
either direction.
RUN_SPD (0x01)
Graph 1 - RUN_SPD, STOP & EMER_STOP
Between each speed transition (RUN_SPD1, RUN_SPD2...) the ZikoDrive controller will run the
ACC_VAL and DEC_VAL values and using the current variables set in registers ACC_CUR and
DEC_CUR. The EMER_STOP has no deceleration where the STOP command will decelerate the
motor smoothly to a STOP using the DEC_VAL.
The RUN_SPD command sets the motor to run at a requested speed. The RUN_SPD requires 17
bits of data broken down into 3 Bytes.
•
The first Data Byte is the is read as a boolean 1 or 0 that dictates the motor run direction.
•
Byte_MSB is an 8bit Byte that uses the MSB of the required speed value
•
Byte_LSB is an 8bit Byte that uses the LSB of the required speed value
The RUN_SPD command will accelerate the motor at the acceleration rate stated in the ACC_VAL
until the required speed is achieved. Once the required speed is achieved a 0x00 completion
command will be sent from the ZikoDrive.