Datasheet

DMC60CSoftware Reference Manual
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3.2 Open Loop ........................................................................................................................ 9
3.3 Closed Loop ...................................................................................................................... 9
3.4 Programmatically Setting Web Parameters ..................................................................... 9
4. Driving the DMC60C ..................................................................................................... 10
4.1 Open Loop ...................................................................................................................... 10
4.2 Closed Loop .................................................................................................................... 10
4.3 Follower Mode ............................................................................................................... 10
4.4 Disable Motor ................................................................................................................. 11
5. Getting the Status of the DMC60C ................................................................................ 11
5.1 General Status ................................................................................................................ 11
5.2 Limit Switches ................................................................................................................. 11
5.3 Closed Loop Status ......................................................................................................... 11
5.4 Fault Status ..................................................................................................................... 12
6. Tutorials ...................................................................................................................... 12
6.1 Setting correct motor and encoder direction ................................................................ 12
6.1.1 C++ (Robot.cpp) ...................................................................................................... 13
6.1.2 Java (Robot.java) ..................................................................................................... 14
6.1.3 Labview ................................................................................................................... 14
6.2 Tuning closed loop parameters ...................................................................................... 15
6.2.1 Position Mode ......................................................................................................... 15
6.2.2 Velocity Mode ......................................................................................................... 15
6.3 Using current limiting ..................................................................................................... 15
6.3.1 Fixed Current Limit .................................................................................................. 15
6.3.2 Variable Current Limit ............................................................................................. 15