Zikodrive ZD10UART Series User manual

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
ZikoDrive ZD10UART Series Operating Manual
Introduction
OverView
This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running
standard firmware (1.1) and includes the following UART Commands that can also be used over
RS232 or RS485 using the relevant Break Out Boards:
•Run at set speed
•Run Number of Microsteps
•Decelerate to Stop
•Emergency Stop
•Move to Home position
•Reset Home Position
•Move to Absolute Position
•Move to Home input Limit Switch
•Setting STD motor Parameters including Running Current, Holding Current,
Acceleration/Deceleration Current, Acceleration/Deceleration Rates and Microstepping
resolution.
Specifications
•Up to 35Vdc.
•Up to 5A.
•Up to128 Microsteps/Step.
•Modular design, connects to many Break Out Boards that can provide options such as 4-
20mA, 0-10Vdc, Optically Isolated inputs etc...
•Over temperature protections and stall detection.
•Microprocessor controlled enabling exceptional positional accuracy.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Contents
Introduction ................................................................................................................................1
OverView............................................................................................................................. ......1
Specifications....................................................................................................................... ......1
Important NOTE:................................................................................................................. ......3
Components................................................................................................................................4
Board View.......................................................................................................................... ......4
Setting Up...................................................................................................................................5
Wiring Motor Phase Wires ........................................................................................ ................5
Power Wires......................................................................................................................... ......5
Connections to Box Header (UART)................................................................................... ......6
Connections to ZDPIRS (RS485 & RS232)........................................................................ ......6
Programming Manual.................................................................................................................7
The UART Protocol............................................................................................................. ......7
Protocol Setup...................................................................................................................... ......7
The ZikoDrive Protocol....................................................................................................... ......8
CheckSum formula.................................................................................................... ................9
Command Complete............................................................................................................ ......9
Shortlist of Commands........................................................................................................ ....11
Incremental Commands............................................................................................................12
RUN_SPD (0x01)................................................................................................................ ....12
RUN_SPD Formula................................................................................................... ..............13
RUN_STPS (0x02).............................................................................................................. ....14
RUN_STPS Formula................................................................................................. ..............15
General Commands ..................................................................................................................16
STOP (0x03)........................................................................................................................ ....16
EMER_STOP (0x04)........................................................................................................... ....16
Absolute Commands.................................................................................................................17
MOV_HOME (0x05) .......................................................................................................... ....17
RST_HOME (0x06) ............................................................................................................ ....17
MOV_ABS (0x07) .............................................................................................................. ....18
MOV_HOME_RST (0x08)................................................................................................. ....19
Parameter Setup........................................................................................................................20
Motor Current...................................................................................................................... ....20
Standard Mode Current formula:......................................................................................... ....21
Precision Mode Current formula:........................................................................................ ....21
RUN_CUR (0x09)..................................................................................................... ..............22
HOLD_CUR (0x0A) ................................................................................................. ..............22
ACC_CUR (0x0B) .................................................................................................... ..............22
DEC_CUR (0x0C)..................................................................................................... ..............22
ACC_VAL (0x0D)............................................................................................................... ....23
DEC_VAL(0x0E)................................................................................................................ ....23
SPD_RUN (0x0F)................................................................................................................ ....24
M_STEP (0x10)................................................................................................................... ....25
Precision Mode.........................................................................................................................25
Standard Mode..........................................................................................................................25
M_STEP register layout ...........................................................................................................26

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
READ_PAR (0x11) ..................................................................................................................27
READ_PAR register layout................................................................................................. ....27
READ_SPD (0x11 0x01) .................................................................................................... ....28
READ_POS (0x11 0x02) .................................................................................................... ....28
READ_***_CUR................................................................................................................ ....29
READ_***_CUR formula for Standard Mode ......................................................... ..............29
READ_***_CUR formula for Precision Mode: ....................................................... ..............30
READ_ACC/DEC_VAL (0x11 0x07/8).............................................................................. ....30
READ_SPD_RUN (0x11 0x09).......................................................................................... ....31
READ_M_STEP (0x11 0x0A)............................................................................................ ....32
Quick Commands.....................................................................................................................33
RUN_SPD ........................................................................................................................... ....33
RUN_STPS ......................................................................................................................... ....33
RUN_ABS .......................................................................................................................... ....33
STOP ................................................................................................................................... ....33
HOME ................................................................................................................................. ....34
Current ................................................................................................................................ ....34
RUN_CUR................................................................................................................. ..............34
HOL_CUR................................................................................................................. ..............34
ACC_CUR................................................................................................................. ..............34
DEC_CUR................................................................................................................. ..............34
ACC & DEC........................................................................................................................ ....35
ACC_VAL ................................................................................................................. ..............35
DEC_VAL ................................................................................................................. ..............35
RUN_SPD ........................................................................................................................... ....35
M_STEP .............................................................................................................................. ....35
READ_PAR......................................................................................................................... ....35
Important NOTE:
It is critically important to not exceed the recommended input voltages as this may cause un-
repairable damage to the ZikoDrive ZD SERIES UART Motor Driver. The max voltage recommended
for any digital or analogue inputs is 5Vdc. DO NOT APPLY Higher Voltage PWM as this will damage
the board.
All wires must be kept as short as possible to reduce EMC emissions from the motor phase cables
and to reduce noise on both the analogue and digital inputs. If you require more information
regarding good wiring practice please contact ZikoDrive [e-mail].

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Components
Board View

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Setting Up
Wiring Motor Phase Wires
Wire up the Motor phase wiring according to the motor manufactures data sheet. Below is a
common example of an off the shelf unit. Wiring up the motor phases incorrectly will not damage
the board, however it will affect the direction and performance of the motor and in some cases the
motor may not run at all. As the ZD SERIES UART PCB is an absolute positioning Controller, if the
motor is travelling in the incorrect direction absolute positioning commands will not work.
Terminal
Wire
A2
Black
A1
Green
B1
Blue
B2
Red
Power Wires
12-35Vdc must be applied to the board on the 2 Way terminal Block Marked GND & Vin. Although
the board is protected against reverse polarity, care should be taken to ensure the wires are not
reversed.
Note –Please ensure that the DC power supply has the proper current supply capability. Care
should be taken to ensure the DC supply is clean (keep wires as short as possible, and shield where
required).
Once all these connections are complete, the ZD SERIES UART can be powered up.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Connections to Box Header (UART)
GND is the common digital GND for the PCB. The RX and the TX pins must be switched with the
Master Controller. Ie, TX (transmitting) from the Master controller must be connected to the RX
(receiving) pin on the ZD SERIES UART. The TX (transmitting) from the ZD SERIES UART must be
connected to the RX (receiving) of the Master Controller.
Connections for any serial Break Out Board (RS485 & RS232)
Connecting to the Break Out Boards are simple.
A = Non-inverting receiver input and non-inverting driver output
B = Inverting receiver input and inverting driver output
GND = Ground
Note - If shielded cables are used between the Master Controller and the ZikoDrive please ensure
only one end of the shielding is grounded to ensure no Ground loops.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Programming Manual
The UART Protocol
The protocol used is non-standard and derived by the ZikoDrive engineers to provide fast and
efficient data transfer.
The Data is transmitted and received in 8bit binary Bytes which in this manual we will displayed in a
Hexadecimal format. To easily transition between binary, decimal, and hexadecimal you can either
use the programmer mode on the PC calculator, or I find using this website very efficient
(https://www.mathsisfun.com/binary-decimal-hexadecimal-converter.html).
Protocol Setup
BAUD RATE = 9600
START BITS = One
STOP BITS = One
PARITY = None

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
The ZikoDrive Protocol
All commands must be sent with a two byte header, one byte address code, one byte register
address code, an “x” amount of data bytes and then followed with a CheckSum.
To ensure the correct data is being transferred, the protocol will send either a confirm (0x06) or a
reject (0x15) for a good, or a bad command. If the ZD SERIES UART has accepted the command, the
confirmation will then be sent to the Master Controller and then process the given command. If the
command was rejected, all data will be disregarded and a new command must be sent.
Example 1 –Basic Send
From Master 0x7A 0x64 0x01 0x03 0xFB
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x03 = Register Address, STOP command
0xFB = CheckSum
Note –as this is a STOP command no DATA bytes are required.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
CheckSum formula
Each command sent to the ZikoDrive controller must be followed with a CheckSum byte or the data
will be rejected.
CHECKSUM = ((RS485_ADDRESS + REGISTER + DATA_MSB + DATA_0 + DATA_1 + DATA_LSB) XOR 0xFF) & 0xFF;
 The RS485 Address, the required register and all the data bytes are added together.
 Command is run through an XOR with 0xFF
 Command is then run through & with 0xFF
We have available a EXCEL spreadsheet to help calculate the CheckSum byte if required.
Please note that the Header and the CheckSum bytes are not included in the CheckSum Formula.
Command Complete
When particular commands are used that require time to perform (i.e., RUN_STPS) a 0x00
command is sent from the ZikoDrive to the Master Controller once the action has been completed.
If the command sent is a Speed command, the 0x00 will be sent once the motor has reached the
desired speed. No additional commands will be accepted by the controller until the Complete
command has been sent.
Example 2 –Command Complete (RUN_STPS)
From Master 0x7A 0x64 0x01 0x02 0x01 0x00 0x7D 0x00 0x7F
From ZikoDrive 0x06
//After RUN_STEPS has reached its final position//
From ZikoDrive 0x00
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x02 = Register Address, RUN_STPS
0x01 = Direction
0x00 = Data_0 (No. of steps MSB)
0x7D = Data_1
0x00 = Data_2 (No. of steps LSB)
0x7F = CheckSum
DATA CORRECT UP TO HERE
Example 3 –Command Complete (RUN_SPD)

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
From Master 0x7A 0x64 0x01 0x01 0x01 0x09 0xC4 0x2E
From ZikoDrive 0x06
//After RUN_SPD has completed Acceleration ONLY//
From ZikoDrive 0x00

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Shortlist of Commands
Register
Name
Notes
DATA Size
(Bits)
Defaults
0x011
RUN_SPD
Run at Speed
17
NA
0x022
RUN_STPS
Run No. of Steps
23
NA
0x032
STOP
Decelerate to STOP
0
NA
0x042
EMER_STOP
Immediate STOP
0
NA
0x052
MOV_HOME
Go to home position
0
NA
0x06
RST_HOME
Reset Home position
0
NA
0x072
MOVE_ABS
Move to Absolute position
22
NA
0x082
MOV_HOME_RST
Move Home then re-set on switch
17
NA
0x09
RUN_CUR
Running Current Setting
8
0x52
0x0A
HOLD_CUR
Holding Current Setting
8
0x00
0x0B
ACC_CUR
Acceleration Current Setting
8
0x52
0x0C
DEC_CUR
Deceleration Current Setting
8
0x52
0x0D
ACC_VAL
Acceleration Rate
12
0x085
0x0E
DEC_VAL
Deceleration Rate
12
0x085
0x0F
SPD_RUN
Set running Speed
16
0x09BA
0x10
M_STEP
Set MicroStep resolution
4
0x07
0x11
READ_PAR
Read particular parameter
8
NA
1 0x00 sent after initial speed transition (either acceleration or deceleration period)
2 0x00 sent after whole command is completed

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Incremental Commands
These commands will work from any position and does not reference itself to a fixed home position.
They will run for either an infinite time in one or other direction or a number of steps in either
direction.
RUN_SPD (0x01)
Graph 1 - RUN_SPD, STOP & EMER_STOP
Between each speed transition (RUN_SPD1, RUN_SPD2...) the ZikoDrive controller will run the
ACC_VAL and DEC_VAL values. The EMER_STOP has no deceleration where the STOP command will
decelerate the motor smoothly to a STOP using the DEC_VAL.
The RUN_SPD command sets the motor to run at a requested speed. The RUN_SPD requires 17 bits
of data broken down into 3 Bytes.
•The first Data Byte is the is read as a boolean 1 or 0 that dictates the motor run direction.
•Byte_MSB is a 8bit Byte that uses the MSB of the required speed value
•Byte_LSB is a 8bit Byte that uses the LSB of the required speed value
The RUN_SPD command will accelerate the motor at the acceleration rate stated in the ACC_VAL
until the required speed is achieved. Once the required speed is achieved a 0x00 completion
command will be sent from the ZikoDrive.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
RUN_SPD Formula
The values for the MSB and LSB required for the RUN_SPD are just simply the required motor Speed
in RPM x 10
Example 4 - RUN_SPD (Multiple Commands)
So, for a required Speed of 120RPM;
120 x 10 = 1,200
1,200 Decimal = 0x04B0 in Hexadecimal
RUN_SPD_MSB = 0x04
RUNSPD_LSB = 0xB0
From Master 0x7A 0x64 0x01 0x01 0x01 0x04 0xB0 0x48
From ZikoDrive 0x06
From Master 0x7A 0x64 0x01 0x01 0x01 0x03 0xE8 0x10
Highlighted command will not be accepted as 0x00 completion command was not sent. Ie, the motor was still
accelerating when this command was sent.
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x01 = Register Address, RUN_SPD
0x01 = Direction
0x00 = Speed MSB
0x64 = Speed LSB
0x98 = CheckSum

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
RUN_STPS (0x02)
Graph 2 - RUN_STPS CW
The RUN_STPS command sets the motor to run a set number of Microsteps in the required
direction. The RUN_STPS requires 23 bits of data broken down into 4 Bytes.
•The first Data Byte is read as a boolean 1 or 0 that dictates the motor run direction.
•Byte_MSB is a 8bit Byte that uses the MSB of the required Microstep value
•Byte_0 is a 8bit Byte that uses the LSB of the required Microstep value
•Byte_LSB is a 8bit Byte that uses the LSB of the required Microstep value
The RUN_STPS command will accelerate the motor at the acceleration rate stated in the ACC_VAL
until the SPD_RUN speed is achieved. The motor will then maintain this speed until deceleration at
the DEC_VAL rate and then stop when the number of Microsteps is achieved, and then a 0x00
completion command will be sent from the ZikoDrive.
Any command sent to the ZikoDrive before the 0x00 completion command is sent will be
disregarded.
The Microstep size is determined by the value stored in the M_STEP register (please read the
M_STEP register for more details).

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
RUN_STPS Formula
The values for the Data Bytes required for the RUN_STPS are the required number of Microsteps.
Example 5 - Setting RUN_STPS
So, M_STEP was set to 128 Microsteps/Step there would be 25,600 steps per revolution. So if we
needed to rotate 16.2 revolutions we need:
25600 x 16.2 = 414,720 Microsteps
414,720 Decimal = 0x065400 Hexadecimal
RUN_STPS_MSB = 0x06
RUN_STPS_MID = 0x54
RUNSTPS_LSB = 0x00
From Master 0x7A 0x64 0x01 0x02 0x01 0x06 0x54 0x00 0xA0
From ZikoDrive 0x06
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x02 = Register Address, RUN_STPS
0x01 = Direction
0x06 = Speed MSB
0x54 = Speed MID
0x00 = Speed LSB
0x98 = CheckSum

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
General Commands
These commands will work when running both Incremental commands or absolute commands.
STOP (0x03)
The STOP command, typically used after the RUN_SPD command will bring the motor to a dead stop
using the DEC_VAL. Once stopped the ZikoDrive will apply the HOLD_CUR current to ensure the
motor does not move from externally applied loads.
Running the STOP Command when the HOLD_CUR value = 0x00 will put the driver into a high
impedance state.
Example 6 - STOP
From Master 0x7A 0x64 0x01 0x03 0xFA
From ZikoDrive 0x06 0x00
EMER_STOP (0x04)
The EMER_STOP command will stop the motor immediately with no deceleration and then apply
the HOLD_CUR to hold the motor stationary.
Running the EMER_STOP Command when the HOLD_CUR value = 0x00 will put the driver into a
high impedance state.
Example 7 - EMER_STOP
From Master 0x7A 0x64 0x01 0x04 0xFA
From ZikoDrive 0x06 0x00

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Absolute Commands
The absolute commands are completed with a reference to a fixed home position. Ie, moving to an
absolute number of steps from the home position.
Care must be taken when using the Absolute commands that the M_STEP register is not changed
during the use of the Absolute Commands. This is because the ZikoDrive uses the M_STEP
resolution as an incremental counter from the HOME position and when the M_STEP register
changes the counter becomes meaningless.
MOV_HOME (0x05)
The MOV_HOME command will take the motor in either CW or CCW (it will take the shortest path)
to the set home position. The home position is the position the motor is in when the board powers
up, or the position set using either the RST_HOME command or the MOV_HOME_RST command.
The MOV_HOME command will use the ACC_VAL to accelerate up to the SPD_RUN speed then
decelerate using the DEC_VAL down and then stop on the HOME position.
Example 8 - MOV_HOME & High Impedance
From Master 0x7A 0x64 0x01 0x05 0xF8
From ZikoDrive 0x06
//After MOV_HOME has completed stopped on the HOME position//
From ZikoDrive 0x00
From Master 0x7A 0x64 0x01 0x03 0xFA
From ZikoDrive 0x00
RST_HOME (0x06)
The RST_HOME command will re-set the home position to ZERO, making the current position of the
motor the new HOME position.
Example 9 - RST_HOME
From Master 0x7A 0x64 0x01 0x06 0xF8
From ZikoDrive 0x06 0x00

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
MOV_ABS (0x07)
The MOV_ABS command will rotate the motor in requested direction to a specified number or steps
from the HOME position. The MOV_ABS also uses the ACC_VAL to accelerate, SPD_RUN value as
constant speed and DEC_VAL to decelerate and stop on the required position. The MOV_ABS is
always in agreement with the selected M_STEP register Microsteps.
The MOV_ABS position register contains 21bits of positional data in each direction from the home
position. The MSB (of the entire 22bits) is used as a negative sign –IE, two's compliment format.
So this means that if a step resolution of 16 Microsteps per step was used, the absolute Max
positive and negative positions would be:
128 Microsteps = 3,200 steps/rev
21bits = decimal 2,097,151
2,097,151 / 3,200 = 655.36 revolutions in each direction (with 1.8 degree stepper motor)
Example 10 - MOV_ABS
If we suggest we are in a 1/16 Microstep Mode, and currently at any position CW from the
requested position (lets say 6400 steps). Meaning the motor will automatically move CCW to our
required position.
6400 decimal = 0x001900 in Binary giving:
MSB = 0x00
MID = 0x19
LSB = 0x00
From Master 0x7A 0x64 0x01 0x07 0x00 00x19 0x00 0xDE
From ZikoDrive 0x06
//After MOV_ABS has completed stopped on the set position//
From ZikoDrive 0x00
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x07 = Register Address, MOV_ABS
0x00 = MOV_ABS MSB
0x19 = MOV_ABS MID
0x00 = MOV_ABS LSB
0xDE = CheckSum
0x00 = Command Complete

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
MOV_HOME_RST (0x08)
The MOV_HOME_RST command will run the motor in required direction and accelerate up to the
required speed set in the MSB and LSB bytes using the ACC_VAL and continue at this speed until a
limit switch is triggered. Once the limit switch has been triggered the driver will then re-set the
home position to ZERO making the current position the new HOME position.
Example 11 - MOV_HOME_RST
So, for a required Speed of 10RPM CCW until Switch is triggered;
10 x 10 = 100
100 Decimal = 0x64 in Hexadecimal
RUN_SPD_MSB = 0x00
RUNSPD_LSB = 0xB64
From Master 0x7A 0x64 0x01 0x08 0x00 0x64 0x92
From ZikoDrive 0x06
//After MOV_HOME_RST has completed stopped and new position SET//
From ZikoDrive 0x00