RoboteQ AX1500 Left / Right Tuning Adjustment, Exponentiation Parameter Value Selected Curve

Left / Right Tuning Adjustment

%Forward (Motor Output)

				100
				80				Logarithmic Strong
				60				Logarithmic Weak
								Linear (default)
				40				Exponential Weak
				20				Exponential Strong
- 100
	- 80	- 60	- 40	- 20				% Command Input
				0
					40	60	80	100
				20
				20
								Deadband
				40
				60
				80
				100
				% Reverse

FIGURE 19. Exponentiation curves

The AX1500 is delivered with the “linear” curves selected for both joystick channels. To select different curves, the user will need to change the values of “E” (channel 1) and “F” (channel 2) according to the table below. Refer to the chapter “Configuring the Controller using the Switches” on page 171 or “Using the Roborun Configuration Utility” on page 161 for instructions on how to program parameters into the controller.

TABLE 5. Exponent selection table

Exponentiation Parameter Value	Selected Curve
E or F = 0	Linear (no exponentiation) - default value
E or F = 1	strong exponential
E or F = 2	normal exponential
E or F = 3	normal logarithmic
E or F = 4	strong logarithmic

Left / Right Tuning Adjustment

By design, DC motors will run more efficiently in one direction than the other. In most situ- ations this is not noticeable. In others, however, it can be an inconvenience. When operat- ing in open loop speed control, the AX1500 can be configured to correct the speed in one direction versus the other by as much as 10%. Unlike the Joystick center trimming tab that

AX1500 Motor Controller User’s Manual 47