RoboteQ AX2550, AX1500 user manual Encoder Setting and Testing, Closed Loop Parameters

Using the Roborun Configuration Utility

Closed Loop Parameters

FIGURE 93. Closed Loop parameter setting screen

The screen shown in Figure 93 is used to set the Proportional, Integral and Differential gains needed for the PID algorithm. These PID gains are loaded after reset and apply to both channels. Gains can be changed individually for each channels and on-the-fly using RS232 commands. These parameters are used in the Position mode (see page 81) and the Closed Loop speed mode (see page page 93).

Encoder Setting and Testing

Extensive diagnostic, calibration, setting and testing support is provided in the Roborun PC utility. Basic instructions on how to install and run the PC utility can be found in “Using the Roborun Configuration Utility” on page 161.

Once the utility is up and running and the controller found and identified, click on the

“Encoder” tab to bring up the Encoder configuration and setup screen show in Figure 94 below.

168 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007