K-Team Koala 2.5, Руководство пользователя

Страница: 44 / 53

Koala 2.5 User Manual Rev 1.1 41
J Configure the speed profile parameters
Command:
J,Acc_Inc, Acc_Div, Min_Speed, Speed_Order,
Pos_Margin,Max_Current
↵ ↵↵ ↵
Answer: j \r
Function: Configure the parameters used for the position control:
Acc_Inc: Increment of the speed added every
“1” control loop.
Acc_Div:
Number of control loop before adding the
Acc_Inc to the speed order
Min_Speed: Minimum speed order used during the position
control
Speed_Order: Travel speed used during the position control
Pos_Margin: Margin of the position control to detect when
the robot reach its target.
Max_Current: Maximum current for each motor. If above this
value, the controller will limit the motor
command. (unit is 0.1[A], 0 = disable , max 30
(=3A), default = 10 (=1A)).
Example:
J,10,0,5,150,10,0
↵
j\r
K
Set Motor Speed with acceleration ramp
Command:
K, MotL_Speed, MotR_Speed
↵ ↵↵ ↵
Answer: k \r
Function: Sets a speed order to reach with acceleration ramp. The
parameters used during this mode are the same as for the
position control.
Example: K,-100,-100
↵
k\r
L
Set open loop
Command:
L, MotL_PWM, MotR_PWM
↵ ↵↵ ↵
Answer: l \r
Function: Sets a PWM value for each motor. Value can be from -2940
(100% in backward direction) to +2940 (100% forward)
Example: L,500,-1000
↵
l\r