User Manual
RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
35
BASICMICRO
(6) I/O
Set encoder input type. Set S3, S4 and S5 conguration options. Enabling output pins on certain
models of RoboClaw. Set limit, homing, voltage clamp, E-stop options.
Function Description
Encoder 1 Mode Sets encoder type for encoder 1.
Encoder 2 Mode Sets encoder type for encoder 2.
S3 Mode Sets the default function for S3.
S4 Mode Sets the default function for S4.
S5 Mode Sets the default function for S5.
S4/S5 Duty Sets the auto-homing duty percentage. When velocity or postion control is
congured duty sets the speed percentage.
S4/S5 Timeout Sets the auto-homing timeout in seconds.
CTRL1 Mode Enables output pins on certain models of RoboClaw. A value of 0 to 4095 can be
used to set the pin's default PWM output. Value can be changed by commands
during run time.
CTRL2 Mode Enables output pins on certain models of RoboClaw. A value of 0 to 4095 can be
used to set the pin's default PWM output. Value can be changed by commands
during run time.
CTRL1/2 Duty Sets the initial output state of CTRL1 or CTRL2. Range is 0 to 4095. 0 is o and
4095 is fully on.