User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
101
63 - Read Motor 1 Position PID Constants
Read the Position PID Settings.
Send: [Address, 63]
Receive: [P(4 bytes), I(4 bytes), D(4 bytes), MaxI(4 byte), Deadzone(4 byte),
MinPos(4 byte), MaxPos(4 byte), CRC(2 bytes)]
64 - Read Motor 2 Position PID Constants
Read the Position PID Settings.
Send: [Address, 64]
Receive: [P(4 bytes), I(4 bytes), D(4 bytes), MaxI(4 byte), Deadzone(4 byte),
MinPos(4 byte), MaxPos(4 byte), CRC(2 bytes)]
65 - Buffered Drive M1 with signed Speed, Accel, Deccel and Position
Move M1 position from the current position to the specied new position and hold the new
position. Accel sets the acceleration value and deccel the decceleration value. QSpeed sets the
speed in quadrature pulses the motor will run at after acceleration and before decceleration.
Send: [Address, 65, Accel(4 bytes), Speed(4 Bytes), Deccel(4 bytes),
Position(4 Bytes), Buffer, CRC(2 bytes)]
Receive: [0xFF]
66 - Buffered Drive M2 with signed Speed, Accel, Deccel and Position
Move M2 position from the current position to the specied new position and hold the new
position. Accel sets the acceleration value and deccel the decceleration value. QSpeed sets the
speed in quadrature pulses the motor will run at after acceleration and before decceleration.
Send: [Address, 66, Accel(4 bytes), Speed(4 Bytes), Deccel(4 bytes),
Position(4 Bytes), Buffer, CRC(2 bytes)]
Receive: [0xFF]
67 - Buffered Drive M1 & M2 with signed Speed, Accel, Deccel and Position
Move M1 & M2 positions from their current positions to the specied new positions and hold the
new positions. Accel sets the acceleration value and deccel the decceleration value. QSpeed sets
the speed in quadrature pulses the motor will run at after acceleration and before decceleration.
Send: [Address, 67, AccelM1(4 bytes), SpeedM1(4 Bytes), DeccelM1(4 bytes),
PositionM1(4 Bytes), AccelM2(4 bytes), SpeedM2(4 Bytes), DeccelM2(4 bytes),
PositionM2(4 Bytes), Buffer, CRC(2 bytes)]
Receive: [0xFF]
68 - Set M1 Default Duty Acceleration
Set the default acceleration for M1 when using duty cycle commands(Cmds 32,33 and 34) or
when using Standard Serial, RC and Analog PWM modes.
Send: [Address, 68, Accel(4 bytes), CRC(2 bytes)]
Receive: [0xFF]