20
velocity changing is the acceleration values, but not like other regular drives which changes the
absolute value of the rate of deceleration slowing to 0, then accelerate up to the value of target
velocity when the direction changes.
For example, to access to the M1 acceleration
* Send: 1,GACC,1\r\n
* Returns: (the motor acceleration)
3.21 Get reduced speed (ID,GDEC,*\r\n)
In closed-loop control mode, the speed reduction unit is r/min/s; in open-loop mode, is a quantitative
parameter, no matter the open-loop or closed-loop control, acceleration acts on motor speed. When
the direction of the motor is consistent, and absolute value decline,the rate of change of velocity are
deceleration values.
For example, to get the deceleration value of M1
* Send: 1,GDEC,1\r\n
* Returns: (the road motor deceleration values)
3.22 Set increase or decrease speed (ID,SAD,*,*****,#####\r\n)
The directive sets motor acceleration/deceleration values at the same time. In closed-loop control
mode, the speed reduction unit is r/min/s; in open-loop mode, is a quantitative parameter.
Such as acceleration of M1 is set to 50, the deceleration is set to 100
* Send: 1,SAD,1,50,100\r\n
* Returns: none
3.23 Get the PPM Max (ID,GPA\r\n)
PPM Max factory default value is 2500us.
* Send: 1,GPA\r\n
* Returns: (PPM maximum)
3.24 Get the minimum PPM (ID,GPI\r\n)
PPM minimum factory default value is 500us.
* Send: 1,GPI\r\n
* Returns: (PPM minimum)
3.25 Set PPM extreme (ID,SPPM,****,####\r\n)
Drive PPM maximum can be set in two ways, one is in SET mode, the automatic recognition of PPM
