User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
86
2.4.3 Absolute Encoder
MCP is capable of reading absolute encoders that output an analog voltage. Like the Analog input
modes for controlling the motors, the absolute encoder voltage must be between 0v and 5v.
The diagram below shows the main battery as the only power source. The 5VDC shown
connected is only required if your MCU needs a power source. This is the BEC feature of the MCP.
If the MCU has its own power source do not connect the 5VDC.
2.4.4 Encoder Tuning
To control motor speed and or position with an encoder the PID must be calibrated for the
specic motor and encoder being used. Using Ion Studio the PID can be tuned manually or by
the auto tune fucntion. Once the encoders are tuned the settings can be saved to the onboard
eeprom and will be loaded each time the unit powers up.
The Ion Studio window for Velocity Settings will auto tune for velocity. The window for Position
Settings can tune a simple PD position controller, a PID position controller or a cascaded Position
with Velocity controller(PIV). The cascaded tune will determine both the velocity and position
values for the motor but still requires the QPPS be manually set for the motor before starting.
Auto tune functions usually return reasonable values but manually adjustments may be required
for optimum performance.
Motor 1
A
GND
+2V
M1A
M1B
Positive +
+
-
S1 Signal
S2 Signal
5VDC
UART TX
UART RX
GROUND
5VDC
GROUND
MCP
Motor 2
EN1 A
5VDC
GROUND
Pot 2
A
GND
+2V
EN2 A
5VDC
GROUND
Pot 1
R1
R2
M2B
M2A
Negative -
D1
SW1
Main
DC Power