User Manual

Count Position Commands
Advanced Digital Motor Controller User Manual 167
While in Open Loop, enable the Speed channel in the Roborun Chart Recorder. Move the
slider in the positive direction and verify that the measured speed polarity is also positive.
If a negative speed is reported, swap the two encoder wires to change the measured po-
larity, or swap the motor leads to make the motor spin in the opposite direction.
Then use the PC Utility to select the Closed Loop Position Mode. After saving to the con-
troller, the motor will operate in Closed Loop and will attempt to go to the 0 counter posi-
tion. Beware therefore that the motor has not already turned before switching to Closed
Loop. Reset the counter if needed prior to closing the loop.
Count Position Commands
Moving the motor is done using a set of simple commands.
To go to an absolute encoder position value, use the !P command
To go to a relative encoder position count that is relative to the current position, use the
!PR command.
The Acceleration, Deceleration and Velocity are fixed parameters that can be changed us-
ing the ^MAC, ^MDEC and ^MVEL configuration settings. These can also be changed on
the fly, any time using the !AC and !DC commands.
The velocity can also be changed at any time using the !S command:
New position destination command can be issued at any time. If the previous destination
is not reached while the new is sent, the motor will move to the new destination. If this
causes a change of direction, the motor will do the change using the current acceleration
and deceleration settings. See the Commands Reference section for details on all these
commands
Position Command Chaining
It is possible to chain position commands in order to create seamless motion to a new
position after an initial position is reached. To do this, the controller can store the next goto
position with, optionally, a new set of acceleration, deceleration and velocity values.
The commands that set the “next” move are identical to these discussed in the previous
section, with the addition of an “X” at the end. The full command list is:
!PX nn mm Next position absolute
!PRX nn mm Next position relative
!ACX nn mm Next acceleration
!DCX nn mm Next deceleration
!SX Next velocity