Difference between revisions of "Firmware-820 Function-076"
(Created page with "==DRIVEM (76, 4Ch)== The DRIVEM function enables control of the DriveM actuator in both host and stand-alone mode. The following methods can be selected using the FUNCTION co...") |
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Example: | Example: | ||
| − | In order to use the DRIVEM function to have a DriveM actuator with I2C device address 90 (default DriveM I2C device address) connected to the 7th I2C port execute method 13 and output a voltage to drive a motor so that it turns in one direction with a | + | In order to use the DRIVEM function to have a DriveM actuator with I2C device address 90 (default DriveM I2C device address) connected to the 7th I2C port execute method 13 and output a voltage to drive a motor so that it turns in one direction with a speed "13", the following message is sent: |
:240, 125, 0 {DEV}, 8 {FUNCTION}, 6 {port}, 100 {device address}, 76 {DRIVEM function}, 13 {actuator method}, 247 (F0h, 7Dh, 00h, 08h, 06h, 64h, 4Ch, 0Dh, F7h) | :240, 125, 0 {DEV}, 8 {FUNCTION}, 6 {port}, 100 {device address}, 76 {DRIVEM function}, 13 {actuator method}, 247 (F0h, 7Dh, 00h, 08h, 06h, 64h, 4Ch, 0Dh, F7h) | ||
Other settings of the DriveM actuator can be effectuated by using I2C commands such as I2C WRITE and I2C READ. See also the datasheet linked from the [http://icubex.com/drivem DriveM] web page. | Other settings of the DriveM actuator can be effectuated by using I2C commands such as I2C WRITE and I2C READ. See also the datasheet linked from the [http://icubex.com/drivem DriveM] web page. | ||
Latest revision as of 20:24, 24 February 2022
DRIVEM (76, 4Ch)
The DRIVEM function enables control of the DriveM actuator in both host and stand-alone mode. The following methods can be selected using the FUNCTION command’s method/parameter FP:
DriveM v1.0
| FP | Actuator effect |
|---|---|
| 0 | Brake motor (immediate stop) |
| 1..63 | Drive motor in reverse with speed correlated to FP |
| 64 | Stop motor |
| 64..126 | Drive motor forward with speed correlated to FP |
| 127 | Brake motor (immediate stop) |
Example:
In order to use the DRIVEM function to have a DriveM actuator with I2C device address 90 (default DriveM I2C device address) connected to the 7th I2C port execute method 13 and output a voltage to drive a motor so that it turns in one direction with a speed "13", the following message is sent:
- 240, 125, 0 {DEV}, 8 {FUNCTION}, 6 {port}, 100 {device address}, 76 {DRIVEM function}, 13 {actuator method}, 247 (F0h, 7Dh, 00h, 08h, 06h, 64h, 4Ch, 0Dh, F7h)
Other settings of the DriveM actuator can be effectuated by using I2C commands such as I2C WRITE and I2C READ. See also the datasheet linked from the DriveM web page.
