RoboteQ AX2850 user manual Encoder Setting and Testing, Closed Loop Parameters

Using the Roborun Configuration Utility

These fields are enabled only if the R/C mode is selected. These number areas will let you read and modify the R/C pulse timing information used by the controller. New values can be entered manually to create different capture characteristics. They are also useful for viewing the stored values after an automatic joystick calibration sequence. See “Joystick Calibration” on page 118 and “Automatic Joystick Calibration” on page 119.

Closed Loop Parameters

FIGURE 103. Closed Loop parameter setting screen

The screen shown in Figure 103 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 85) and the Closed Loop speed mode (see page page 97).

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 177.

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 104 below.

184 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007