RoboteQ Dual Channel Digital Motor Controller AX500 用户手册
Using the Roborun Configuration Utility
138
AX500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
Closed Loop Parameters
The screen shown in Figure 79 is used to set the Proportional, Integral and Differential
gains needed for the PID algorithm. These PID gains are loaded after reset and apply to
both channels. Gains can be changed individually for each channels and on-the-fly using
RS232 commands. These parameters are used in the Position mode (see page 63) and the
Closed Loop speed mode (see page page 73).
gains needed for the PID algorithm. These PID gains are loaded after reset and apply to
both channels. Gains can be changed individually for each channels and on-the-fly using
RS232 commands. These parameters are used in the Position mode (see page 63) and the
Closed Loop speed mode (see page page 73).
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 80 shows the Run Screen and its numerous buttons and dials.
FIGURE 79. Closed Loop parameter setting screen