RoboteQ AX500 manual Programmable Acceleration

Programmable Acceleration

When using the serial port, acceleration can be one of 24 possible values, selectable using the Roborun utility or entering directly a value in the MCU’s configuration EEPROM.

Table 4 shows the corresponding acceleration for all Switch and RS232 settings.

Numerically speaking, each acceleration value corresponds to a fixed percentage speed increment, applied every 16 milliseconds. The value for each setting is shown in the table below.

TABLE 4. Acceleration setting table

Acceleration	Acceleration
Setting Using	Setting Using	%Acceleration per	Time from 0 to
RS232	Switches	16ms	max speed
30 Hex		0.78%	2.05 seconds
20 Hex		1.56%	1.02 seconds
10 Hex		2.34%	0.68 second
00 Hex	0	3.13%	0.51 second
31 Hex		3.91%	0.41 second
21 Hex		4.69%	0.34 second
11 Hex		5.47%	0.29 second
01 Hex	1	6.25%	0.26 second
32 Hex	-	7.03%	0.23 second
22 Hex	-	7.81%	0.20 second
12 Hex	-	8.59%	0.19 second
02 Hex	2 (default)	9.38%	0.17 second
33 Hex	-	10.16%	0.16 second
23 Hex	-	10.94%	0.15 second
13 Hex	-	11.72%	0.14 second
03 Hex	3	12.50%	0.128 second
34 Hex	-	13.28%	0.120 second
24 Hex	-	14.06%	0.113 second
14 Hex	-	14.84%	0.107 second
04 Hex	4	15.63%	0.102 second
35 Hex	-	16.41%	0.097 second
25 Hex	-	17.19%	0.093 second
15 Hex	-	17.97%	0.089 second
05 Hex	5	18.75%	0.085 second

Important Warning

Depending on the load’s weight and inertia, a quick acceleration can cause consider- able current surges from the batteries into the motor. A quick deceleration will cause

AX500 Motor Controller User’s Manual 41