MidiMotor1E (Revision A) Programming Table This is the programming table for the MidiMotor1E (Rev. A) module.

MidiMotor1E (Revision A) Programming Table

Command
Name		 Action Bit Description
8 7 6 5 4 3 2 1 0
File24_Full_Get Send 0 0 0 0 0 0 0 0 0 Return the currently selected 24-bit register as {hhhhhhhh mmmmmmmm llllllll}.
Receive 0 h h h h h h h h
Receive 0 m m m m m m m m
Receive 0 l l l l l l l l
File24_Low_Get Send 0 0 0 0 0 0 0 0 1 Return low byte of currently selected 24-bit register as {llllllll}.
Receive 0 l l l l l l l l
File24_Middle_Get Send 0 0 0 0 0 0 0 1 0 Return middle byte of currently selected 24-bit register as {mmmmmmmm}.
Receive 0 m m m m m m m m
File24_High_Get Send 0 0 0 0 0 0 0 1 1 Return high byte of currently selected 24-bit register as {mmmmmmmm}.
Receive 0 h h h h h h h h
File24_Full_Set Send 0 0 0 0 0 0 1 0 0 Set the currently selected 24-bit register to {hhhhhhhh mmmmmmmm llllllll}.
Send 0 h h h h h h h h
Send 0 m m m m m m m m
Send 0 l l l l l l l l
File24_Low_Set Send 0 0 0 0 0 0 1 0 1 Return low byte of currently selected 24-bit register as {llllllll}.
Send 0 l l l l l l l l
File24_Middle_Set Send 0 0 0 0 0 0 1 1 0 Return middle byte of currently selected 24-bit register as {mmmmmmmm}.
Send 0 m m m m m m m m
File24_High_Set Send 0 0 0 0 0 0 1 1 1 Return high byte of currently selected 24-bit register as {hhhhhhhh}.
Send 0 h h h h h h h h
Index24_Direct_Set Send 0 0 0 0 0 1 i i i Set Index24 to {iii}.
Configure_Get Send 0 0 0 0 1 0 0 0 0 Return the configuration bits. {q}=1 means use A/D for position, {q}=0 means use quadrature encoder for position. {p}=1 reverses position direction, and {m}=1 reverses motor direction. {a}=1 enable analog0 input for force censor and {b}=1 reverses which motor direction stops motor. {c} and {d} are the same but for the analog1 input. {e} is unused.
Receive 0 a b c d e q p m
Status_Get Send 0 0 0 0 1 0 0 0 1 Return status information as {ssssssss}. {ssssssss} TBD.
Receive 0 s s s s s s s s
Speed_Get Send 0 0 0 0 1 0 0 1 0 Return the current motor speed as a signed 8-bit value {ssssssss}.
Receive 0 s s s s s s s s
Deadband_Get Send 0 0 0 0 1 0 1 0 0 Return the deadband as {dddddddd}.
Receive 0 d d d d d d d d
Errors_Get Send 0 0 0 0 1 0 1 0 0 Return the number of errors as {eeeeeeee}.
Receive 0 e e e e e e e e
Minimum_Get Send 0 0 0 0 1 0 1 0 1 Return the minimum (non-zero) motor speed as {mmmmmmmm}.
Receive 0 m m m m m m m m
Maximum_Get Send 0 0 0 0 1 0 1 1 0 Return the maximum motor speed as {mmmmmmmm}.
Receive 0 m m m m m m m m
Index24_Get Send 0 0 0 0 1 0 1 1 1 Return the index24 as {iiiiiiii}.
Receive 0 i i i i i i i i
Configure_Set Send 0 0 0 0 1 1 0 0 0 Set the configuration bits. {q}=1 means use A/D for position, {q}=0 means use quadrature encoder for position. {p}=1 reverses position direction, and {m}=1 reverses motor direction. {a}=1 enable analog0 input for force censor and {b}=1 reverses which motor direction stops motor. {c} and {d} are the same but for the analog1 input. {e} is unused, set to 0.
Send 0 a b c d e q p m
Speed_Set Send 0 0 0 0 1 1 0 1 0 Set the current motor speed to {ssssssss}.
Send 0 s s s s s s s s
Deadband_Set Send 0 0 0 0 1 1 1 0 0 Set the deadband to {dddddddd}.
Send 0 d d d d d d d d
Errors_Set Send 0 0 0 0 1 1 1 0 0 Set the number of errors to {eeeeeeee}.
Send 0 e e e e e e e e
Minimum_Set Send 0 0 0 0 1 1 1 0 1 Set the minimum (non-zero) motor speed to {mmmmmmmm}.
Send 0 m m m m m m m m
Maximum_Set Send 0 0 0 0 1 1 1 1 0 Set the maximum motor speed limit to {mmmmmmmm}.
Send 0 m m m m m m m m
Index24_Set Send 0 0 0 0 1 1 1 1 1 Set the index24 to {iiiiiiii}.
Send 0 i i i i i i i i
Copyright (c) 2009 by Wayne C. Gramlich. All rights reserved.