RoboteQ AX2550 Manual Do Utilizador
Using the Roborun Configuration Utility
170
AX1500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
The Time Base parameter is used to compute the speed measured by the module. The
measured speed is a relative number ranging from 0 to +/-127.
measured speed is a relative number ranging from 0 to +/-127.
The relationship between this relative speed number and the actual RPM is based on the
Time Base value and the Encoder’s Pulses Per Revolution (PPR) value (see “Using the
Encoder to Measure Speed” on page 76 for details)
Time Base value and the Encoder’s Pulses Per Revolution (PPR) value (see “Using the
Encoder to Measure Speed” on page 76 for details)
On this screen, changing the Time Base and PPR values automatically display the “Max
RPM” values that can be measured with these settings. For example, with a default set-
ting of 16 and 200 for the Time Base and PPR respectively, the maximum RPM values is
2188. This means that when the motors rotate at 2188 RPM, the measured relative speed
is +127. If the motor spins faster, the speed is still reported to be +127.
RPM” values that can be measured with these settings. For example, with a default set-
ting of 16 and 200 for the Time Base and PPR respectively, the maximum RPM values is
2188. This means that when the motors rotate at 2188 RPM, the measured relative speed
is +127. If the motor spins faster, the speed is still reported to be +127.
Note that the PPR value is not stored in the controller. It is used only in Roborun to convert
relative speed into actual RPM.
relative speed into actual RPM.
The Divider parameter is described in “Using the Encoder to Track Position” on page 77.
The threshold level parameter and its operation is described in “Voltage Levels, Thresholds
and Limit Switches” on page 72.
and Limit Switches” on page 72.
Exercising the Motors
A set of buttons and sliders is provided to start/stop communication with the controller and
encoder.
encoder.
When communication is active, the screen will be updated with Encoder data.
Moving the motor sliders will set the motors to the desired speed and direction.
Viewing Encoder Data
During operation, this screen will display the following information:
•
The instantaneous relative 0 to +/-127 speed value
•
The instantaneous relative distance to destination (0 after reset)
•
The actual speed computed from the measured relative speed value, encoder Time
Base, and Encoder PPR. The PPR value must be entered manually on this
screen every the utility is run, as it is not stored in the controller or on the PC.
Base, and Encoder PPR. The PPR value must be entered manually on this
screen every the utility is run, as it is not stored in the controller or on the PC.
•
The Encoder counter values
•
The status of the optional limit switches
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.
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 95 shows the Run Screen and its numerous buttons and dials.