User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
4
252 - Read User EEProm Word ...................................................................... 84
253 - Write User EEProm Word ..................................................................... 84
2.4 Encoders ..................................................................................................... 85
2.4.1 Cloosed Loop Modes ............................................................................. 85
2.4.2 Quadrature Encoders ........................................................................... 85
2.4.3 Absolute Encoder ................................................................................. 86
2.4.4 Encoder Tuning ................................................................................... 86
2.4.5 Auto Tuning ........................................................................................ 87
2.4.6 Manual Velocity Calibration Procedure ..................................................... 87
2.4.7 Manual Position Calibration Procedure ..................................................... 88
2.4.8 Encoder Commands ............................................................................. 89
16 - Read Encoder Count/Value M1 ................................................................ 89
17 - Read Quadrature Encoder Count/Value M2 ................................................ 90
18 - Read Encoder Speed M1 ......................................................................... 90
19 - Read Encoder Speed M2 ......................................................................... 90
20 - Reset Quadrature Encoder Counters ........................................................ 90
22 - Set Quadrature Encoder 1 Value .............................................................. 91
23 - Set Quadrature Encoder 2 Value .............................................................. 91
30 - Read Raw Speed M1 .............................................................................. 91
31 - Read Raw Speed M2 .............................................................................. 91
78 - Read Encoder Counters .......................................................................... 91
79 - Read ISpeeds Counters .......................................................................... 91
2.4.9 Advanced Motor Control ....................................................................... 92
28 - Set Velocity PID Constants M1 ................................................................ 93
29 - Set Velocity PID Constants M2 ................................................................ 93
32 - Drive M1 With Signed Duty Cycle ............................................................ 93
33 - Drive M2 With Signed Duty Cycle ............................................................ 94
34 - Drive M1 / M2 With Signed Duty Cycle ..................................................... 94
35 - Drive M1 With Signed Speed ................................................................... 94
36 - Drive M2 With Signed Speed ................................................................... 94
37 - Drive M1 / M2 With Signed Speed ........................................................... 94
38 - Drive M1 With Signed Speed And Acceleration ........................................... 95
39 - Drive M2 With Signed Speed And Acceleration ........................................... 95
40 - Drive M1 / M2 With Signed Speed And Acceleration ................................... 95
41 - Buffered M1 Drive With Signed Speed And Distance ................................... 96
42 - Buffered M2 Drive With Signed Speed And Distance ................................... 96
43 - Buffered Drive M1 / M2 With Signed Speed And Distance ........................... 96
44 - Buffered M1 Drive With Signed Speed, Accel And Distance .......................... 97
45 - Buffered M2 Drive With Signed Speed, Accel And Distance .......................... 97
46 - Buffered Drive M1 / M2 With Signed Speed, Accel And Distance................... 98
47 - Read Buffer Length ................................................................................ 98
50 - Drive M1 / M2 With Signed Speed And Individual Acceleration ..................... 98
51 - Buffered Drive M1 / M2 With Signed Speed, Individual Accel And Distance .... 99
52 - Drive M1 With Signed Duty And Acceleration ............................................. 99
3.0 Programming MCP .................................................................................... 103
3.0.1 MCL ..................................................................................................103
3.0.2 MCL Editor .........................................................................................103
3.0.3 Device Menu ......................................................................................104
3.0.4 Start and Stop Program Execution ........................................................104