User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
77
BASICMICRO
103 - Set CTRL2
Set CTRL2 output value(available on select models)
Send: [Address, 103, Value(2 bytes), CRC(2 bytes)]
Receive: [0xFF]
Set the output state value of CTRL2. See 100 - Set CTRL Modes for valid values.
104 - Read CTRL Settings
Read CTRL1 and CTRL2 output values(available on select models)
Send: [Address, 104]
Receive: [CTRL1(2 bytes), CTRL2(2 bytes), CRC(2 bytes)]
Reads currently set values for CTRL Settings. See 100 - Set CTRL Modes for valid values.
105 - Set Auto Homing Duty/Speed and Timeout for M1
Sets the percentage of duty or max speed and the timeout value for automatic homing of motor
1. If the motor is set up for velocity or position control the percentage of maximum speed is
used, otherwise percent duty is used. The range for duty/speed is 0 to 32767. The timeout value
is 32 bits and is set in increments of 1/300 of a second. As an example, a timeout value of 10
seconds would be set as 3000.
Send: [Address, 105, Percentage(2 bytes), Timeout(4 bytes), CRC(2 bytes)]
Receive: [0xFF]
106 - Set Auto Homing Duty/Speed and Timeout for M2
Sets the percentage of duty or max speed and the timeout value for automatic homing of motor
2. If the motor is set up for velocity or position control the percentage of maximum speed is
used, otherwise percent duty is used. The range for duty/speed is 0 to 32767. The timeout value
is 32 bits and is set in increments of 1/300 of a second. As an example, a timeout value of 10
seconds would be set as 3000.
Send: [Address, 106, Percentage(2 bytes), Timeout(4 bytes), CRC(2 bytes)]
Receive: [0xFF]
107 - Read Auto Homing Duty/Speed and Timeout Settings
Read the current auto homing duty/speed and timeout settings.
Send: [Address, 107]
Receiver: [Percentage(2 bytes), Timeout(4 bytes), CRC(2 bytes)]
109 - Set Speed Error Limits
Set motor speed error limits in encoder counts per second.
Send: [Address, 109, M1Limit(4 bytes), M2Limit(4 bytes), CRC(2 bytes)]
Receive: [0xFF]