Encoder Error Detection and Protection

Closed Loop Position Mode

3.Loosen the sensor’s axle from the motor assembly.

4.Launch the Roborun utility and click on the Run tab. Click the “Start” button to begin communication with the controller. The sensor values will be displayed in the Ana1 and Ana2 boxes.

5.Move the sensor manually to the middle position until a value of “0” is measured using Roborun utility

6.Verify that the motor sliders are in the “0” (Stop) position. Since the desired posi- tion is 0 and the measured position is 0, the controller will not attempt to move the motors. The Power graph on the PC must be 0.

7.Apply power to the Motor Power input (Vmot terminals). The motor will be stopped.

8.With a hand ready to disconnect the Motor Power cable or ready to press the “Pro- gram” and “Set” buttons at the same time (Emergency Stop), SLOWLY move the sensor off the center position and observe the motor’s direction of rotation.

9.If the motor turns in the direction in which the sensor was moved, the polarity is correct. The sensor axle may be tighten to the motor assembly.

10.If the motor turns in the direction away from the sensor, then the polarity is reversed. The wire polarity on the motors should be exchanged. If using a potenti- ometer as sensor, the GND and +5V wires on the potentiometer may be swapped instead.

11.Move the sensor back to the center point to stop the motor. Cut the power if con- trol is lost.

12.If the polarity was wrong, invert it and repeat steps 8 to 11.

13.Tighten the sensor.

Important Safety Warning

Never apply a command that is lower than the sensor’s minimum output value or higher than the sensor’s maximum output value as the motor would turn forever try- ing to reach a position it cannot. For example, if the max position of a potentiometer is 4.5V, which is a position value of 114, a destination command of 115 cannot be reached and the motor will not stop.