Left / Right Tuning Adjustment

%Forward (Motor Output)

 

 

 

 

100

 

 

 

 

 

 

 

 

80

 

 

 

Logarithmic Strong

 

 

 

 

60

 

 

 

Logarithmic Weak

 

 

 

 

 

 

 

Linear (default)

 

 

 

 

 

 

 

 

 

 

 

 

40

 

 

 

Exponential Weak

 

 

 

 

20

 

 

 

Exponential Strong

- 100

 

 

 

 

 

 

 

- 80

- 60

- 40

- 20

 

 

 

% Command Input

 

 

 

 

0

 

 

 

 

 

 

 

40

60

80

100

 

 

 

 

20

 

 

 

 

20

 

 

 

 

 

 

 

 

 

 

 

 

Deadband

 

 

 

 

40

 

 

 

 

 

 

 

 

60

 

 

 

 

 

 

 

 

80

 

 

 

 

 

 

 

 

100

 

 

 

 

 

 

 

 

% Reverse

 

 

 

 

FIGURE 19. Exponentiation curves

The AX500 is delivered with the “linear” curves selected for both joystick channels. To select different curves, the user will need to change the values of “E” (channel 1) and “F” (channel 2) according to the table below. Refer to the chapter “Configuring the Controller using the Switches” on page 171 or Using the Roborun Configuration Utility” on page 131 for instructions on how to program parameters into the controller.

TABLE 5. Exponent selection table

Exponentiation Parameter Value

Selected Curve

 

 

E or F = 0

Linear (no exponentiation) - default value

 

 

E or F = 1

strong exponential

 

 

E or F = 2

normal exponential

 

 

E or F = 3

normal logarithmic

 

 

E or F = 4

strong logarithmic

 

 

Left / Right Tuning Adjustment

By design, DC motors will run more efficiently in one direction than the other. In most situ- ations this is not noticeable. In others, however, it can be an inconvenience. When operat- ing in open loop speed control, the AX500 can be configured to correct the speed in one direction versus the other by as much as 10%. Unlike the Joystick center trimming tab that

AX500 Motor Controller User’s Manual

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RoboteQ AX500 manual Left / Right Tuning Adjustment, Exponentiation Parameter Value Selected Curve