BASICMICRO Roboclaw 2x120A, User Manual

Page: 7 / 101

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual 7
BASICMICRO
135 - Read M1 Max Current Limit ................................................................... 79
136 - Read M2 Max Current Limit ................................................................... 79
148 - Set PWM Mode .................................................................................... 79
149 - Read PWM Mode .................................................................................. 79
252 - Read User EEPROM Memory Location ..................................................... 79
253 - Write User EEPROM Memory Location ..................................................... 80
Encoders ........................................................................................................... 81
Closed Loop Modes ...................................................................................... 81
Encoder Tuning ............................................................................................ 81
Quadrature Encoders Wiring .......................................................................... 81
Absolute Encoder Wiring ............................................................................... 82
Encoder Tuning ............................................................................................ 83
Auto Tuning ................................................................................................ 83
Manual Velocity Calibration Procedure ............................................................. 84
Manual Position Calibration Procedure ............................................................. 84
Encoder Commands ..................................................................................... 86
16 - Read Encoder Count/Value M1 ................................................................ 86
17 - Read Quadrature Encoder Count/Value M2 ................................................ 87
18 - Read Encoder Speed M1 ......................................................................... 87
19 - Read Encoder Speed M2 ......................................................................... 87
20 - Reset Quadrature Encoder Counters ........................................................ 87
22 - Set Quadrature Encoder 1 Value .............................................................. 88
23 - Set Quadrature Encoder 2 Value .............................................................. 88
30 - Read Raw Speed M1 .............................................................................. 88
31 - Read Raw Speed M2 .............................................................................. 88
78 - Read Encoder Counters .......................................................................... 88
79 - Read ISpeeds Counters .......................................................................... 88
108 - Read Motor Average Speeds.................................................................. 89
111 - Read Speed Errors............................................................................... 89
114 - Read Position Errors............................................................................. 89
Advanced Motor Control ....................................................................................90
Advanced Motor Control Commands ............................................................... 90
28 - Set Velocity PID Constants M1 ................................................................ 91
29 - Set Velocity PID Constants M2 ................................................................ 91
32 - Drive M1 With Signed Duty Cycle ............................................................ 91
33 - Drive M2 With Signed Duty Cycle ............................................................ 92
34 - Drive M1 / M2 With Signed Duty Cycle ..................................................... 92
35 - Drive M1 With Signed Speed ................................................................... 93
36 - Drive M2 With Signed Speed ................................................................... 93
37 - Drive M1 / M2 With Signed Speed ........................................................... 93
38 - Drive M1 With Signed Speed And Acceleration ........................................... 93
39 - Drive M2 With Signed Speed And Acceleration ........................................... 94
40 - Drive M1 / M2 With Signed Speed And Acceleration ................................... 94
41 - Buffered M1 Drive With Signed Speed And Distance ................................... 94
42 - Buffered M2 Drive With Signed Speed And Distance ................................... 95
43 - Buffered Drive M1 / M2 With Signed Speed And Distance ........................... 95
44 - Buffered M1 Drive With Signed Speed, Accel And Distance .......................... 95
45 - Buffered M2 Drive With Signed Speed, Accel And Distance .......................... 96
46 - Buffered Drive M1 / M2 With Signed Speed, Accel And Distance ................... 96
47 - Read Buffer Length ................................................................................ 96
50 - Drive M1 / M2 With Signed Speed And Individual Acceleration ..................... 97