Schematic

Motor Configurations
Advanced Digital Motor Controller User Manual 327
On brushless motor controller with FOC support, KP is not used for torque control. A sep-
arate PID is used for current control
MAC - Motor Acceleration Rate
HexCode: 33
Description:
Set the rate of speed change during acceleration for a motor channel. This command is
identical to the AC realtime command. Acceleration value is in 0.1*RPM per sec-
ond. When using controllers fitted with encoder, the speed and acceleration value
are actual RPMs. Brushless motor controllers use the hall sensor for measuring actual
speed and acceleration will also be in actual RPM/s. When using the controller without
speed sensor, the acceleration value is relative to the Max RPM configuration parameter,
which itself is a user-provide number for the speed normally expected speed at full power.
Assuming that the Max RPM parameter is set to 1000, and acceleration value of 10000
means that the motor will go from 0 to full speed in exactly 1 second, regardless of the
actual motor speed.
Syntax Serial: ^MAC cc nn
~MAC [cc]
Syntax Scripting: setconfig(_MAC, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Acceleration
Type: Signed 32-bit
Min: 0 Max: 500000
Default: 10000 = 1000.0 RPM/s
Where:
cc = Motor channel
nn = Acceleration time in 0.1 RPM per seconds
MDEC - Motor Deceleration Rate
HexCode: 34
Description:
Set the rate of speed change during deceleration for a motor channel. This command is
identical to the DC realtime command. Acceleration value is in 0.1*RPM per sec-
ond. When using controllers fitted with encoder, the speed and deceleration value
are actual RPMs. Brushless motor controllers use the hall sensor for measuring actual
speed and acceleration will also be in actual RPM/s. When using the controller without
speed sensor, the deceleration value is relative to the Max RPM configuration parameter,