RoboteQ Dual Channel Digital Motor Controller AX2550, User Manual, Page: 93 / 186

AX1500 Motor Controller User’s Manual 93
Mode Description
SECTION 9
Closed Loop
Speed Mode
This section discusses the AX1500 Close Loop Speed mode.
Mode Description
In this mode, an analog or digital speed sensor measures the actual motor speed and com-
pares it to the desired speed. If the speed changes because of changes in load, the control-
ler automatically compensates the power output. This mode is preferred in precision motor
control and autonomous robotic applications.
The AX1500 incorporates a full-featured Proportional, Integral, Differential (PID) control
algorithm for quick and stable speed control.
Selecting the Speed Mode
The speed mode is selected by changing the Motor Control parameter in the controller to
either:
•
A and B Closed Loop Speed, Separate
•
A and B Closed Loop Speed, Mixed
•
A Closed Loop Speed, B Position
Note that in the last selection, only the first motor will operate in the Closed Loop Speed
mode.
Changing the parameter to select this mode is done using the Roborun Utility. See “Load-
ing, Changing Controller Parameters” on page 164.
Using Optical Encoder for Speed Feedback
Digital Optical Encod-
ers may be used to capture accurate motor speed. This capability is only available on con-
trollers fitted with the optional encoder module.