User Manual

MCP Series

Brushed DC Motor Controllers

MCP Series User Manual

26 - Set Minimum Logic Voltage Level

Note: This command is included for backwards compatibility. We recommend you use

command 58 instead.

Sets logic input (LB- / LB+) minimum voltage level. RoboClaw will shut down with an error if

the voltage is below this level. The voltage is set in .2 volt increments. A value of 0 sets the

minimum value allowed which is 6V. The valid data range is 0 - 140 (6V - 34V). The formula for

calculating the voltage is: (Desired Volts - 6) x 5 = Value. Examples of valid values are 6V = 0,

8V = 10 and 11V = 25.

Send: [Address, 26, Value, CRC(2 bytes)]

Receive: [0xFF]

27 - Set Maximum Logic Voltage Level

Note: This command is included for backwards compatibility. We recommend you use

command 58 instead.

Sets logic input (LB- / LB+) maximum voltage level. The valid data range is 30 - 175 (6V -

34V). RoboClaw will shutdown with an error if the voltage is above this level. 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, 27, Value, CRC(2 bytes)]

Receive: [0xFF]

48 - Read Motor PWM values

Read the current PWM output values for the motor channels. The values returned are +/-32767.

The duty cycle percent is calculated by dividing the Value by 327.67.

Send: [Address, 48]

Receive: [M1 PWM(2 bytes), M2 PWM(2 bytes), CRC(2 bytes)]

49 - Read Motor Currents

Read the current draw from each motor in 10ma increments. The amps value is calculated by

dividing the value by 100.

Send: [Address, 49]

Receive: [M1 Current(2 bytes), M2 Currrent(2 bytes), CRC(2 bytes)]

57 - Set Main Battery Voltages

Set the Main Battery Voltage cutoffs, Min and Max. Min and Max voltages are in 10th of a volt

increments. Multiply the voltage to set by 10.

Send: [Address, 57, Min(2 bytes), Max(2bytes, CRC(2 bytes)]

Receive: [0xFF]