RoboteQ AX2850 user manual Running the Motors, Exercising the Motors, Viewing Encoder Data

Using the Roborun Configuration Utility

The Time Base parameter is used to compute the speed measured by the module. The measured speed is a relative number ranging from 0 to +/-127.

The relationship between this relative speed number and the actual RPM is based on the

Time Base value and the Encoder’s Pulses Per Revolution (PPR) value (see “Using the

Encoder to Measure Speed” on page 80 for details)

On this screen, changing the Time Base and PPR values automatically display the “Max RPM” values that can be measured with these settings. For example, with a default set- ting of 16 and 200 for the Time Base and PPR respectively, the maximum RPM values is 2188. This means that when the motors rotate at 2188 RPM, the measured relative speed is +127. If the motor spins faster, the speed is still reported to be +127.

Note that the PPR value is not stored in the controller. It is used only in Roborun to convert relative speed into actual RPM.

The Divider parameter is described in “Using the Encoder to Track Position” on page 81.

The threshold level parameter and its operation is described in “Voltage Levels, Thresholds and Limit Switches” on page 76.

Exercising the Motors

A set of buttons and sliders is provided to start/stop communication with the controller and encoder.

When communication is active, the screen will be updated with Encoder data.

Moving the motor sliders will set the motors to the desired speed and direction.

Viewing Encoder Data

During operation, this screen will display the following information:

•The instantaneous relative 0 to +/-127 speed value

•The instantaneous relative distance to destination (0 after reset)

•The actual speed computed from the measured relative speed value, encoder Time Base, and Encoder PPR. The PPR value must be entered manually on this screen every the utility is run, as it is not stored in the controller or on the PC.

•The Encoder counter values

•The status of the optional limit switches

Running the Motors

The Roborun utility will let you exercise and monitor the motors, sensors and actuators using a computer. This feature is particularly useful during development as you will be able to visualize, in real-time, the robot’s Amps consumption and other vital statistics during actual operating conditions.

Figure 105 shows the Run Screen and its numerous buttons and dials.

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