User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
69
3 - Set Maximum Main Voltage (Command 57 Preferred)
Sets main battery (B- / B+) maximum voltage level. The valid data range is 30 - 175 (6V -
34V). During regenerative breaking a back voltage is applied to charge the battery. When using
a power supply, by setting the maximum voltage level, RoboClaw will, before exceeding it, go
into hard braking mode until the voltage drops below the maximum value set. This will prevent
overvoltage conditions when using power supplies. The formula for calculating the voltage is:
Desired Volts x 5.12 = Value. Examples of valid values are 12V = 62, 16V = 82 and 24V = 123.
Send: [Address, 3, Value, CRC(2 bytes)]
Receive: [0xFF]
4 - Drive Forward M2
Drive motor 2 forward. Valid data range is 0 - 127. A value of 127 full speed forward, 64 = about
half speed forward and 0 = full stop.
Send: [Address, 4, Value, CRC(2 bytes)]
Receive: [0xFF]
5 - Drive Backwards M2
Drive motor 2 backwards. Valid data range is 0 - 127. A value of 127 full speed backwards, 64 =
about half speed backward and 0 = full stop.
Send: [Address, 5, Value, CRC(2 bytes)]
Receive: [0xFF]
6 - Drive M1 (7 Bit)
Drive motor 1 forward or reverse. Valid data range is 0 - 127. A value of 0 = full speed reverse,
64 = stop and 127 = full speed forward.
Send: [Address, 6, Value, CRC(2 bytes)]
Receive: [0xFF]
7 - Drive M2 (7 Bit)
Drive motor 2 forward or reverse. Valid data range is 0 - 127. A value of 0 = full speed reverse,
64 = stop and 127 = full speed forward.
Send: [Address, 7, Value, CRC(2 bytes)]
Receive: [0xFF]