RoboteQ Dual Channel High Power Digital Motor Controller AX3500 用户手册
Using the Roborun Configuration Utility
190
AX3500 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 84 for details)
Time Base value and the Encoder’s Pulses Per Revolution (PPR) value (see “Using the
Encoder to Measure Speed” on page 84 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 85.
The threshold level parameter and its operation is described in “Voltage Levels, Thresholds
and Limit Switches” on page 81.
and Limit Switches” on page 81.
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
RC Output Testing
A simple test and diagnostic function is provided in the Roborun PC utility. Basic instruc-
tions on how to install and run the PC utility can be found in “Using the Roborun Configura-
tion Utility” on page 181.
tions on how to install and run the PC utility can be found in “Using the Roborun Configura-
tion Utility” on page 181.
Once the utility is up and running and the controller found and identified, click on the “RC
Out” tab to bring up the test screen show in Figure 107 below.
Out” tab to bring up the test screen show in Figure 107 below.