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Controller modes determine in what way and how much power flows from the motor to the wheels. Roboteq offers various options for both motion and command modes.  

Multiple Motion Modes

For each channel, the Roboteq controllers supports multiple motion control modes:

Open Loop Speed mode

In this mode, the controller delivers an amount of power proportional to the command information. The actual motor speed is not measured.

 

Closed Loop Speed modes

Closed Loop Speed - For a Closed Loop Speed mode, an optical encoder or analog tachometer is used to measure the actual motor speed. In brushless motor controllers, the motor's hall sensor can be used to measure speed. If the speed changes because of changes in load, the controller automatically compensates the power output. This mode is preferred in precision motor control.

Closed Loop Speed Position - This mode is unique in that the controller computes the position at which the motor must be at every 1ms. Then a PID compares that expected position with the current position and applies the necessary power level in order for the motor to reach that position. This mode is especially effective for accurate control at very slow speeds.

 

mode position 
Closed Loop Position modes

In this mode, the motor is coupled to a potentiometer or encoder that is used to compare the angular position of the axle versus a desired position. Roboteq controllers support 3 different position modes:

Position Relative - This mode uses analog, encoder, hall sensors or pulse feedback sensor with a scalled range of -1000 to +1000 and the motor will move from the current position to the destination using a controlled acceleration, velocity and deceleration.

Count Position - This mode is similar to Position Relative but the full counts of the encoders or the hall sensors for position feedback. The motor can be made to go to any count position value using a controlled acceleration and velocity profile.

Position Tracking - This mode is similar to the Positon Relative but with just a PID. The motor will try to go to the desires destination as fast as possible.

 

Torque mode

In Torque mode, controller will adjust the output in order to reach and maintain a set current value.

 

 

Mixed Motor Command Modes

Dual Channel controllers may be connected to two motors which will react to commands received on two input channels. Using these two channel inputs, the motors can be commanded independently or in a combined fashion to accommodate the most common drive and steering methods in robotic vehicles.

Independent Speed Command

In this mode, each of the two motors is commanded independently of the other. This operating mode is best suited for generic motor control applications.

 

Mixed Speed/Steering Command

This precise, hybrid mode allows the motors to work in combination to move and turn a vehicle by combining the forward/reverse command information and the left/right steering information. This mode of operation provides a cost effective method for moving and steering tank-style robots and underwater vehicles.

 

 

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