User Manual

MCP Series

Brushed DC Motor Controllers

MCP Series User Manual

2.4.5 Auto Tuning

Ion Studio provides the option to auto tune velocity and position control. To use the auto tune

option make sure the encoder and motor are running in the desired direction and the basic

PWM control of the motor works as expected. It is recommend to ensure the motor and encoder

combination are functioning properly before using the auto tune feature.

1. Go to the PWM Settings screen in Ion Studio.

2. Slide the motor slider up to start moving the motor forward. Check the encoder is increasing

in value. If it is not either reverse the motor wires or the encoder wires. The recheck.

Before using auto tune you must rst set the motors and encoders maximum speed. For the

purpose of auto tune the maximum quadrature pulse per second (QPPS) is the maximum speed

the motor and encoder can acheive. When using an absolute encoder the QPPS will be the

maximum rotational speed of the absolute encoder. Check the encoders data sheet to ensure the

maximum rotational speed is not exceeded. Auto tune for position control can not automatically

measure the maximum QPPS due to most position control systems having a limited range of

movement.

3. To determine the maximum QPPS value, use the PWM settings screen to run the motor and

encoder at 100% duty by moving the slider bar full up or down. Record the value from M1 Speed

or M2 Speed elds at the top of the window. This is your maximum QPPS speed. If the motor

can not be ran at full speed due to physical constraints, then an estimated maximum speed in

encoder counts is required.

4. Enter the QPPS speed obtained from step 3 into the QPPS elds under settings. Ensure the

correct QPPS is entered for the corresponding motor channel. Two identical motors and encoders

may not function exactly the same so the maximum QPPS may vary.

5. To start auto tune click the auto tune button for the motor channel that is will be tuned rst.

The auto tune function will try to determine the best settings for that motor channel.

If the motor or encoder are wired incorrectly, the auto tune function can lock

up and the motor controller will become unresponsive. Correct the wiring

problem and reset the motor controller to continue.

2.4.6 Manual Velocity Calibration Procedure

1. Determine the quadrature pulses per second(QPPS) value for your motor. The simplest

method to do this is to run the Motor at 100% duty using Ion Studio and read back the speed

value from the encoder attached to the motor. If you are unable to run the motor like this due to

physical constraints you will need to estimate the maximum speed in encoder counts the motor

can produce.

2. Set the initial P,I and D values in the Velocity control window to 1,0 and 0. Try moving the

motor using the slider controls in IonMotion. If the motor does not move it may not be wired

correctly or the P value needs to be increased. If the motor immediately runs at max speed

when you change the slider position you probably have the motor or encoder wires reversed.

The motor is trying to go at the speed specied but the encoder reading is coming back in the

opposite direction so the motor increases power until it eventually hits 100% power. Reverse the

encoder or motor wires(not both) and test again.