RoboteQ AX500 manual Left/Right Adjust, Default PID Gains

Serial (RS-232) Controls and Operation

This parameter configures the transfer curve that is applied the input command.

Bit	Definition	See pages
7:0	(0) = Linear (no exponentiation - default)	page 89
	1 = strong exponential
	2 = normal exponential
	3 = normal logarithmic
	4 = strong logarithmic

Left/Right Adjust

	Address:	^0B
	Access:	Read/Write
	Effective:	After Reset or ^FF
	This parameter configures the compensation curve when motors are spinning in one direc-
	tion vs. the other.
Bit	Definition		See pages
7:0	0, 1, ..., 6 = -5.25%, -4.5%, ...,-0.75%		page 43
	(7) = no adjustment (default)
	8, ..., D, E** = +0.75, ..., +4.5%, +5.25%

Default PID Gains

Address:	^0F - Proportional Gain
	^10 - Integral Gain
	^11 - Derivative Gain
Access:	Read/Write
Effective:	After Reset or ^FF

These parameters are the Gains values that are loaded after the controller is reset or pow- ered on. These Gains apply to both channels. Gains can be changed at Runtime, and values can be different for each channel using separate commands (see page 121).

Gains values are integer number from 0 to 63. This number is divided by 8 internal so that each increment equals 0.125.

Bit	Definition	See pages
7:0	0 to 63 (16) default	page 70 and page 76

118 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007