RoboteQ AX3500 user manual Closed Loop Speed Control, Close Loop Position Control

Selecting the Motor Control Modes

Controller

FIGURE 16. Effect of commands to motors examples in mixed mode

Closed Loop Speed Control

In this mode, illustrated in Figure 18, an analog tachometer or an optical encoder is used to measure the actual motor speed. If the speed changes because of changes in load, the controller automatically compensates the power output. This mode is preferred in preci- sion motor control and autonomous robotic applications. Details on how to wire the tachometer can be found in “Connecting Tachometer to Analog Inputs” on page 63. Closed Loop Speed control operation is described in “Closed Loop Speed Mode” on page 101.

FIGURE 17. Motor with tachometer or Encoder for Closed Loop Speed operation

Close Loop Position Control

In this mode, illustrated in Figure 18, the axle of a geared down motor is coupled to a potentiometer that is used to compare the angular position of the axle versus a desired position. This AX3500 feature makes it possible to build ultra-high torque “jumbo servos” that can be used to drive steering columns, robotic arms, life-size models and other heavy loads. Details on how to wire the position sensing potentiometers and operating in this mode can be found in “Closed Loop Position Mode” on page 89.

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