User manual

Syntax: DcMotorVelocityNonTimeCtr (channel, cmdValue);

Parameter: short channel; // 0, 1, 2, 3, 4, or 5

short cmdValue; // Target velocity value

Return value: void

Remarks:

1. Motor will be enabled automatically by the system when this command is received

2. No velocity is available for motor channel using single potentiometer sensor

3. The unit of the velocity is (Position change in A/D sampling data) / second when

using dual potentiometer sensor for rotational position measurement and pulse/

second when using quadrature encoder.

4. Please refer to the description of GetSensorPot for data conversion between

angular values and the A/D sampling data values.

See also: DcMotorVelocityTimeCtr, GetSensorPot

96 void DcMotorPwmTimeCtr(short channel, short cmdValue, short timePeriod);

Description:

DcMotorPwmTimeCtr sends the PWM control command to the specified motion control

channel on the Sensing and Motion Controller (PMS5005). The command includes the

target pulse width value and the time period to execute the command. The current

trajectory planning method for time control is linear.

Syntax: DcMotorPwmTimeCtr (channel, cmdValue, timePeriod);

Parameter: short channel; // 0, 1, 2, 3, 4, or 5

short cmdValue; // Target pulse width value

short timePeriod; // Executing time in milliseconds

Return value: void

Remarks:

1. The specified channel (motor) will be enabled automatically by the system when

this command is received

2. Target pulse width value range is 0 to 32767 (0x7FFF), corresponding to the duty

cycle of 0 to 100% linearly.

3. A pulse width value of 16363 means 50% duty cycle, putting motor in “Stop” stage.

Any value in between 16364 - 32767 will put the motor to turn clockwise (facing

the front side of the motor) and any value in between 0 – 16362 will put the motor

to turn counter-clockwise.