Motor Values Min and Max

3 months 4 weeks ago - 3 months 4 weeks ago #29535595 by wstuck
Support,

I would like help understanding the Min Max values for the following Motor Settings. Also, is the information in any of the documentation so I can find the values myself for future items?

Speed & Acceleration
Max Speed (RPM):
Acceleration:
Deceleration:

Closed Loop Parameters
Position Mode Velocity (RPM)
Position Turns Min to Max
Integrator Limit (%) (What does this do?)

Thanks for your help,
Bill





 

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3 months 4 weeks ago #29535596 by wstuck
Replied by wstuck on topic Motor Values Min and Max
All,

I was able to fine the information listed above in the Roboteq Controllers User Manual_v2.1.pdf file documentation based on the command items.

So the following is where the information is located.

Speed & Acceleration
Max Speed (RPM): Was listed under the MXRPM command.
Acceleration: Was listed under the MAC command.
Deceleration: Was listed under the MDEC command.

Closed Loop Parameters
Position Mode Velocity (RPM): Was listed under the MVEL command.
Position Turns Min to Max: Was listed under the MXTRN command.
Integrator Limit (%) (What does this do?) Was listed under the ICAP command.
What ICAP is and does:
ICAP - PID Integrator Limit
HexCode: 32
Description:
This parameter is the integral cap as a percentage. This parameter will limit maximum
level of the Integral factor in the PID. It is particularly useful in position systems with long
travel movement, and where the integral factor would otherwise become very large because
of the extended time the integral would allow to accumulate. This parameter can
be used to dampen the effect of the integral parameter without reducing the gain. This
parameter may adversely affect system performance in closed loop speed mode as the
Integrator must be allowed to reach high values in order for good speed control.

Syntax Serial: ^ICAP cc nn
~ICAP [cc]
Syntax Scripting: setconfig(_ICAP, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Cap
Type: Unsigned 8-bit
Min: 1 Max: 100
Default: 100%
Where:
cc = Motor channel
nn = Integral cap in %



 

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