User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
52
Low Pass - Sets the low pass digital lter for the input. The digital lter takes a running
average of 2^N samples at 10khz. By default the low pass lter is disabled on digital inputs.
To use the digital input with a PWM signal (without using pulse measurement) the low pass
lter must be enabled. Note this method of reading a PWM signal supports PWM frequecnies
up to 5khz (half the sample rate). Frequencies higher than that should either use analog
inputs with an external lter or pulse width measurement. To determine the best sample size
divide 10000 by the update rate of the input signal provided. If udpated readings of 20 times
a second are required, 500 samples per reading will be the maximum. The closest 2^N value
less than or equal to 200 is 256. The low pass setting would be 8.
Deadband - Specify the input signal range around center that will be considered equal to 0.
For example if an analog joystick is attached to the input, the spring that holds the joystick
centered may not always return back to exactly 0. Deadband allows you to set a window that
will be considered 0.
Power Exp - Add an exponential response curve to the input signal. Positive values increase
sensitivity close to the center point while negative values increase input sensitivity near the
Min and Max limits.
Power Min - Adds a +/- offset to the input signal around the center setting. Input values
greater than or less than zero (as calculated using the deadband) will have the Power Min
offset added / subtracted from the input. For example, if a motor needs a minimum of 5%
duty to start moving an offset using Power Min can be added to always start the motor
properly and increase the input range. If a value of 5 is choosen the duty for the motor at
stop will be 0 and when movement is intiallized will jump to 5% duty to start the motors
movement.
Load Home - The value that is set to the controlled motors encoder register if a load home
action is triggered by the selected input.
Min Action - Drop down list of automated actions that can be performed if the input signal is
less than or equal to the set Min value from Min, Center and Max.
Max Action - Drop down list of automated actions that can be performed if the input signal
is less than or equal to the set Min value from Min, Center and Max.
Min Actions and Max Actions
The Min and Max actions are preset automated functions that can be perform if the input values
of the selected pin are equal to or less than the value set for Min and greater than the value set
for Max.
M1/M2 Safe Stop - When triggered will stop the controlled motor at the maximum
decceleration rate supported. The motor will remain stopped until the input signal comes
back to Center
M1/M2 Off - The controlled motor will turn off (coast to a stop). Motor will be prevented
from new motion until the action is cleared.
M1/M2 Reverse - The controlled motors direction will be reversed(at the currently set accel
/ deccel rate)