User Manual
MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
76
95 - Read Settings from EEPROM
Read all settings from non-volatile memory.
Send: [Address, 95]
Receive: [Enc1Mode, Enc2Mode, CRC(2 bytes)]
128 - Set M1 Inductance and Resistance
Set Motor Inductance and Resistance values. Used for torque mode control. Inductance = L *
16777216. Resistance = R * 16777216. L is in henrys and R is in ohms. For example a motor
with L of .6 millihenries = .0006henrys = .0006 * 16777216 = 10066. A motor with resistance of
6mohm = .006 ohm = .006 * 16777216 = 100663.
Send: [Address, 128, Inductance(4 bytes), Resistance (4 bytes), CRC(2 bytes)]
Receive: [0xFF]
129 - Set M2 Inductance and Resistance
Set Motor Inductance and Resistance values. Used for torque mode control. See Command 128.
Send: [Address, 129, Inductance(4 bytes), Resistance (4 bytes), CRC(2 bytes)]
Receive: [0xFF]
130 - Get M1 Inductance and Resistance
Get Motor Inductance and Resistance values. Used for torque mode control. Caluclate actual
motor L and R by dividing Inductance and Resistance by 16777216. For example if Inductance is
201123, actual L in Henrys is 201123/16777216 = .0012 Henrys.
Send: [Address, 130]
Receive: [Inductance(4 bytes), Resistance(4 bytes), CRC(2 bytes)]
131 - Get M2 Inductance and Resistance
Get Motor Inductance and Resistance values. Used for torque mode control. See Cmd 130
Send: [Address, 131]
Receive: [Inductance(4 bytes), Resistance(4 bytes), CRC(2 bytes)]
133 - Set M1 Max Current Limit
Set Motor 1 Maximum Current Limit. Current value is in 10ma units. To calculate multiply current
limit by 100.
Send: [Address, 134, MaxCurrent(4 bytes), 0, 0, 0, 0, CRC(2 bytes)]
Receive: [0xFF]
134 - Set M2 Max Current Limit
Set Motor 2 Maximum Current Limit. Current value is in 10ma units. To calculate multiply current
limit by 100.
Send: [Address, 134, MaxCurrent(4 bytes), 0, 0, 0, 0, CRC(2 bytes)]
Receive: [0xFF]