UIrobot UIM2501 - Global Motor Control Instructions Part 1; Global Motor Current Setup; Global Auto Current Reduction; Global Micro-Stepping Resolution Setup

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UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
3.7 Global Motor Current Setup Instruction (gCUR)
Instruction gCUR
Function
Setup motor current for all subsidiary UIM242 Controllers
Syntax
gCUR = x; Variable Integer x = 0、1 … 80
ACK
0xAA [QTY] 0xAD 0xFF
3.8 Global Auto Current Reduction Instruction (gACR)
Instruction gACR
Function
Enable/disable the ACR function of all subsidiary UIM242 Controllers
Syntax
gACR = x;
Variable
Integer x = 0, 1
ACK
0xAA [QTY] 0xAD 0xFF
3.9 Global Micro-Stepping Resolution Setup Instruction (gMCS)
Instruction gMCS
Function
Setup micro-stepping resolution for all subsidiary UIM242 Controllers
Syntax
gMCS = x; Variable Integer x = 1, 2, 4, 16
ACK
0xAA [QTY] 0xAD 0xFF
3.10 Global Direction Instruction (gDIR)
Instruction gDIR
Function
Setup motion direction for all subsidiary UIM242 Controllers
Syntax
gDIR = x;
Variable
Integer x = 0, 1
ACK
0xAA [QTY] 0xAD 0xFF
3.11 Global Speed Setup Instruction (gSPD)
Instruction gSPD
Function
Setup motor speed for all subsidiary UIM242 Controllers
Syntax
gSPD = x;
Variable
Integer x = 0, 1 … 65535
ACK
0xAA [QTY] 0xAD 0xFF