MOTKA MK-200C, Руководство пользователя, Страница: 18 / 26

18
Example 1 – Tuning of Controller
This example assigns the PID parameters to Axis A and read back for
confirmation.
CSerial port;
If(port.open(2, 115200)) // Open serial port and configured
{ // to baud 115200 bps
char Kp[7] = “KP 100”; // Set Proportional gain for Axis A
Kp[6] = 0x0D; // Terminate it with a Carriage Return
char Ki[7] = “KI 800”; // Set Integral gain for Axis A
Ki[6] = 0x0D; // Terminate it with a Carriage Return
char Kd[5] = “KD 2”; // Set Differential gain for Axis A
Kd[4] = 0x0D; // Terminate it with a Carriage Return
char query[5] = “KP ?”; // Query for KP
query[4] = 0x0D; // Terminate it with a Carriage Return
char readBuf[10]; // Container for reply
port.send(Kp, sizeof(Kp)); // Send KP to controller
port.send(Ki, sizeof(Ki)); // Send KI to controller
port.send(Kd, sizeof(Kd)); // Send KD to controller
port.send(query, sizeof(query)); // Query for KP
port.read(readBuf, sizeof(readBuf)); // KP is stored in readBuf
}
Example 2 – Profiled Move
In this example, Axis B moves a distance of 50,000 counts at the speed of
30,000 counts/sec and an acceleration and deceleration of 100,000
counts/sec
2
. It motor stops once it reaches 50,000 counts.
CSerial port;
If(port.open(2, 115200)) // Open serial port and configured
{ // to baud 115200 bps
char SE[6] = “SE, T”; // Servo enable for Axis B