User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
119
MOTORL (2)
Variable array holds the motor inductance setting for both motor channels. If this value and
MOTORR are set then PWM commands are executed using a current control algorithm instead of
voltage control.
main
puts 0,[“Motor1 inductance:”,real TOFLOAT MOTORL(0)/16777216.0\2,13]
pause 100
goto main
MOTORR (2)
Variable array holds the motor resistance setting for both motor channels. If this value and
MOTORL are set then PWM commands are executed using a current control algorithm instead of
voltage control.
main
puts 0,[“Motor1 resistor:”,real TOFLOAT MOTORR/16777216.0\2,13]
pause 100
goto main
MOTORENCPOS (2)
Variable array holds the current encoder position for both motor channels. This value is equal to
the signal channel assigned as encoder input for the specic motor.
main
puts 0,[“Motor1 encoder pos:”,sdec MOTORENCPOS,13]
pause 100
goto main
MOTORENCSPEED (2)
Variable array holds the current encoder speed for both motor channels. This value is equal to
the signal channel assigned as encoder input for the specic motor.
main
puts 0,[“Motor1 encoder speed:”,sdec MOTORENCSPEED,13]
pause 100
goto main
MOTORENCSPEEDS (2)
Variable array holds the current encoder average speed for both motor channels. This value is
equal to the signal channel assigned as encoder input for the specic motor.
main
puts 0,[“Motor1 encoder average speed:”,sdec MOTORENCSPEEDS,13]
pause 100
goto main