RoboteQ AX500 manual Running the Motors, Closed Loop Parameters

Using the Roborun Configuration Utility

Closed Loop Parameters

FIGURE 79. Closed Loop parameter setting screen

The screen shown in Figure 79 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 63) and the Closed Loop speed mode (see page page 73).

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 80 shows the Run Screen and its numerous buttons and dials.

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