RoboteQ AX1500, AX2550 user manual Closed Loop Speed Mode, Selecting the Speed Mode

Mode Description

SECTION 9

Closed Loop Speed Mode

This section discusses the AX1500 Close Loop Speed mode.

Mode Description

In this mode, an analog or digital speed sensor measures the actual motor speed and com- pares it to the desired speed. If the speed changes because of changes in load, the control- ler automatically compensates the power output. This mode is preferred in precision motor control and autonomous robotic applications.

The AX1500 incorporates a full-featured Proportional, Integral, Differential (PID) control algorithm for quick and stable speed control.

Selecting the Speed Mode

The speed mode is selected by changing the Motor Control parameter in the controller to either:

•A and B Closed Loop Speed, Separate

•A and B Closed Loop Speed, Mixed

•A Closed Loop Speed, B Position

Note that in the last selection, only the first motor will operate in the Closed Loop Speed mode.

Changing the parameter to select this mode is done using the Roborun Utility. See “Load- ing, Changing Controller Parameters” on page 164.

Using Optical Encoder for Speed FeedbackDigital Optical Encod-

ers may be used to capture accurate motor speed. This capability is only available on con- trollers fitted with the optional encoder module.

AX1500 Motor Controller User’s Manual 93