27961 Parallax Inc, 27961 Datasheet - Page 14

• Manufacturer Part Number: 27961
• Description: MODULE MOTOR MIND SIP
• Manufacturer: Parallax Inc

Specifications of 27961

• Product: Microcontroller Accessories
• Operating Supply Voltage: 6 to 36 V
• Board Size: 30.48 mm x 25.4 mm
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

Motor Mind B enhanced
Data Sheet
Bit
0
1
2
3
4
5
6
7
4.10 COUNT Command
The COUNT command is used to run the MMBe at a desired SPEED until it counts the specified number
of pulses defined in the command string. It will then stop the motor and implement a STATUS response
(it will send the same data to the master unit as a STATUS command would). The COUNT command
may be used as part of a rudimentary position control system. Keep in mind that motor inertia will
probably drive the motor past the desired number of counts. The MMBe will not attempt to back the
motor up when this occurs. A master unit may implement a READ_COUNTER command that will return
the exact number of pulses read by the MMBe, and use this information to make position corrections.
The command below instructs the MMBe to move at 50% speed until 10,000 pulses are counted and then
stop. The direction of movement is determined by the last commanded direction change.
If for some reason the motor becomes stalled during a COUNT command the master unit will need to
send the EXIT_COUNT command. This command is the only way to exit a count while it is in progress.
Sending the COUNT command stops the tachometer from measuring frequencies. Sending a command
other than COUNT or READ_COUNTER will restart the tachometer frequency measurements.
Name
MOTDIR
FAULTON
BRAKEON
BAUD9600
FREQLOW
PIMODE
Unused
Unused
Decimal
Send
Hex
Example of COUNT to 10,000 with SPEED = 128 (0x80)
Phone: [phone] - www.solutions-cubed.com
Sync
0x55
85
Motor Control System - Solutions Cubed, LLC
Response when COUNT is completed
Description
Set when motor is reversed (MOTOR+ = GND; MOTOR- = VMOTOR
when on), cleared when motor is running forward (MOTOR+ =
VMOTOR; MOTOR- = GND when on).
current direction of motor rotation.
Set after an under-voltage (VMOTOR < ~5.6V), over-temperature (H-
bridge IC exceed 150°C -175°C, or over-current (6A-10A) condition
occurs. Will not be cleared until read by STATUS command or end of
COUNT command. When the fault happens the red fault indicator LED
will light. If the condition is not persistent the LED will turn off but this bit
will remain set until read.
Set when the external _BRAKE pin is asserted (0V), or clear when it is
not (5V or unconnected).
Set when operating at 9600BPS, cleared when operating at 2400BPS.
Sending CHANGE_BAUD command will toggle the state of this bit.
Set when PWM motor drive signal is operating at 242Hz, cleared when
operating at 15.5KHz. Sending CHANGE_FREQ command will toggle
the state of this bit.
Set when operating SPDCON with a proportional integral (PI) filter,
cleared when using the increment/decrement mode of SPDCON. The
SPDCON_MODE command will toggle the state of this bit.
Decimal
Receive
Contents of STATUS register
Hex
Command
0x06
6
Status
0x02
2
CountHi
0x27
39
Speed
0x80
128
CountLo
0x10
16
Can be used to determine
Speed
0x80
128
Solutions Cubed
Page 14