User Manual

Analog Inputs Configurations and Use
Advanced Digital Motor Controller User Manual 65
Setting the center value to be the same as the min value makes the input capture only
commands in a positive direction. For example if Min = Center = 200 and Max = 4500,
the input will convert into 0 when 200 and below, and 1000 above 4500.
The Min, Max, and Center values are defined individually for each input. They can be easily
entered manually using the Roborun PC Utility. The Utility also features an Auto-calibration
function for automatically capturing these values.
Deadband Selection
The adjusted analog value is then adjusted with the addition of a deadband. This parameter
selects the range of movement change near the center that should be considered as a 0
command. This value is a percentage from 0 to 50% and is useful, for example, to allow some
movement of a joystick around its center position before any power is applied to a motor. The
graph below shows output vs input changes with a deadband of approximately 40%.
Inpu
t
-1000
+1000
Output
+1000
-1000
FIGURE 4-5. Effect of deadband on the output
Note that the deadband only affects the start position at which the joystick begins to take
effect. The motor will still reach 100% when the joystick is in its full position. An illustration
of the effect of the deadband on the joystick action is shown in Figure 4-6 below.
Centered
Position
Deadband
(no action)
Min
Forward
Min
Reverse
Max
Forwar
d
Max
R
everse
FIGURE 4-6. Effect of deadband on joystick position vs. motor command
The deadband value is set independently for each input using the PC configuration utility.