User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
72
Command Description
146 Get All Stream Properties
147 Get Signal Values
148 Set PWM Mode
149 Read PWM Mode
200 E-Stop Reset
201 Lock/Unlock E-Stop Reset
202 Get E-Stop Lock
246 Set Script Autorun Delay
247 Get Script Autorun Delay
248 Start Script
249 Stop Script
252 Read User NVM Word
253 Write User NVM Word
21 - Read Firmware Version
Read RoboClaw rmware version. Returns up to 48 bytes(depending on the Roboclaw model) and
is terminated by a line feed character and a null character.
Send: [Address, 21]
Receive: ["MCP266 2x60A v1.0.0",10,0, CRC(2 bytes)]
The command will return up to 48 bytes. The return string includes the product name and
rmware version. The return string is terminated with a line feed (10) and null (0) character.
24 - Read Main Battery Voltage Level
Read the main battery voltage level connected to B+ and B- terminals. The voltage is returned in
10ths of a volt(eg 300 = 30v).
Send: [Address, 24]
Receive: [Value(2 bytes), CRC(2 bytes)]
25 - Read Logic Battery Voltage Level
Read a logic battery voltage level connected to LB+ and LB- terminals. The voltage is returned in
10ths of a volt(eg 50 = 5v).
Send: [Address, 25]
Receive: [Value.Byte1, Value.Byte0, CRC(2 bytes)]