MOTKA MK-200C, Руководство пользователя

Страница: 17 / 26

17
instructions. To do that, we can use the MOTKA Motion Companion
software or any third party software that can send and receive ASCII
characters such as Microsoft HyperTerminal.
In the example below, we assume a servo motor is connected to Axis A.
For more information to tailor your instructions to suit your tests, please
refer to the Command Reference for complete set of instructions and
explanations.
The first instruction is to check for Motor Type (MT). The response of ‘1’
indicate that MK-200C is configured Axis A to operate in servo mode. Next
we disable Acceleration Limit (AL) by setting it to zero. Before we can
move the motor, it must be enabled by sending the Servo Enable (SE)
instruction to Axis A. We get the first position (GP) and MK-200C
responses with zero. We move the motor by 10,000 counts relative to
current position. Depending on the tuning of PID parameters (KP, KI and
KD) with respect to the loads, the response of the final position obtained
by GP may be different from the example below.
MT ?
1
AL 0
SE T
GP ?
0
MR 10000
GP ?
10003
2.9. Design Examples
Here are a few simple C/C++ examples for using your controller. You may
use other languages to send the ASCII commands via the serial port.