Koala 2.5 User Manual Rev 1.1
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This curve corresponds to the order sent to the PID speed controller. The
real speed of the motor will depend of the payload and the PID reactivity.
A higher Acc_Div parameter will increase the time between two steps to
allow the PID to reach the speed order. A value of 0 means that the
effective motor speed will always be late on the order during the
acceleration.
This type of control must be preferred to the simple speed profile in order
to avoid high current peaks and preserve the mechanical parts. The user
needs to adapt the parameters Acc_Inc and Acc_Div to match the desired
behavior (high Acc_Inc for a reactive profile, high Acc_Div for a smooth
profile).
4.9.3
Position control (“F” command)
In this mode, the Koala will calculate a speed order (which will be
processed by the PID) to move the robot using an acceleration ramp, a
constant speed, and finally a deceleration ramp.
Speed profile using in position control
Position profile
Содержание Koala 2.5
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