General Operation

direction will case the motor to spin 3 to 5.25% faster than the same command applied in the reverse direction. Note that since the motors cannot be made to spin faster than 100%, the reverse direction is the one that is actually slowed down.

In applications where two motors are used in a mixed mode for steering, the Left/Right Adjustment parameter may be used to make the robot go straight in case of a natural ten- dency to steer slightly to the left or to the right.

The Left/Right adjustment parameter can be set from -5.25% to +5.25% in seven steps of 0.75%. See “Programmable Parameters List” on page 156 and “Loading, Changing Con- troller Parameters” on page 162 for details on how to adjust this parameter.

The Left/Right adjustment is performed in addition to the other command curves described in this section. This adjustment is disabled when the controller operates in any of the sup- ported closed loop modes.

TABLE 10. Left/Right Adjustment Parameter selection

Parameter Value

Speed Adjustment

 

Parameter Value

Speed Adjustment

 

 

 

 

 

 

 

 

7

None (default)

 

 

 

 

 

0

-5.25%

 

8

0.75%

 

 

 

 

 

1

-4.5%

 

9

1.5%

 

 

 

 

 

2

-3.75%

 

10

2.25%

 

 

 

 

 

3

-3%

 

11

3%

 

 

 

 

 

4

-2.25%

 

12

3.75%

 

 

 

 

 

5

-1.5%

 

12

4.5%

 

 

 

 

 

6

-0.75%

 

14

5.25%

 

 

 

 

 

Emergency Shut Down Using Controller Switches

In case of emergency, it is possibly to cause the controller to cut off the power to the motors by depressing the Program and Set buttons simultaneously as shown in the figure below. The controller will stop immediately without delay.

44

AX2500/2850 Motor Controller User’s Manual

Version 1.7. February 1, 2005

Page 44
Image 44
RoboteQ AX2550/2850 user manual Emergency Shut Down Using Controller Switches, Parameter Value Speed Adjustment