User Manual
MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
179
SPEED
Syntax
speed motor,speed,accel
• Motor - is a variable, constant or expression that species which motor to access.
• Speed - is a variable, constant or expression that sets the speed to run the motor at.
• Accel - is a variable, constant or expression that sets the acceleration/decceleration to
use when the motor speeds up or slows down to the specied speed.
• Buffer - is a variable, constant or expression that determines if the command will be buffered(0)
or execute immediately(1) overriding any currently running command on the motor.
Description
The SPEED command is used to control a motor using an encoder with a Velocity PID control
algorithm. The user must have tuned the Velocity PID settings for the motor before using the
SPEED command. With a properly tuned Velocity PID accurate speed control can be acheived
by the motor. Note that multiple SPEED commands can be chained together by buffering the
commands. As each command nishes the next will start executing.
;example assumes velocity PID settings are correct set.
main
speed 0,12000,12000
pause 1000
speed 0,0,12000
pause 1000
speed 0,-12000,12000
pause 1000
speed 0,0,12000
pause 1000
goto main