9
Zikodrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Unit 4B, Top Land Business Park, Hebden Bridge, West Yorkshire, HX7 5RW
enquiries@Zikodrive.com
–
www.Zikodrive.com
- +44 (0) 1422
647177
0x00
– Speed & Direction Register
This register sets the motor running in a set speed and direction.
Register
Name
Byte Data
Default
0x00
Speed & Direction
Data 0 = Direction setting
Data 1 = NA
Data 2 = NA
Data 3 = Speed MSB
Data 4 = Speed LSB
0x00
0x00
0x00
0x00
0x00
The actual motor direction depends on the wiring order and motor windings. However, if
“Byte
0” is equal to 0, the direction will be “A”, and if “Byte
0” is equal to 1, the direction will be “B”.
Data Bytes 1 & 2 are not required and will not be read.
The speed refers to the PWM being sent into the motor windings. If a value of 0 is sent, the
motor will stop, and if a value of 1850 the PWM will be at maximum duty cycle.
Example 2
From Master
0x7A
0x64 0x01 0x00 0x01 0x00 0x00 0x03
0x9D
0x5D
0x7A & 0x64
=
Header
0x01
=
Address
0x00
=
Register
–
Speed & Direction register
0x01
=
Data Byte 0
–
Direction
–
Move in Direction “B”
0x00
=
Data Byte 1
–
Not read
0x00
=
Data Byte 2
–
Not read
0x03
=
Data Byte 3
–
Speed Value MSB
0x9D
=
Data Byte 4
–
Speed Value LSB
0x5D
=
Checksum
Speed variable
=
0x39D (HEX)
=
925 (Decimal)