User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
80
Encoders
Cloose Loop Modes
RoboClaw supports a wide range of encoders for close loop modes. Encoders are used in velocity,
position or a cascaded velocity with position control mode. This manual mainly deals with
Quadrature and Absolute encoders. However additional types of encoders are supported.
Encoder Tunning
All encoders will require tuning to properly function. Ion Studio incorperates an Auto Tune
function which can automatically tune the PID and editable elds for manual tuning of the PID.
Encoders can also be tunned using Advance Control Commands which can be sent by a MCU or
other control devices.
Quadrature Encoders Wiring
RoboClaw is capable of reading two quadrature encoders, one for each motor channel. The main
header provides two +5VDC connections with dual A and B input signals for each encoder.
Quadrature encoders are directional. In a simple two motor robot, one motor will spin clock
wise (CW) and the other motor will spin counter clock wise (CCW). The A and B inputs for one
of the encoders must be reversed to allow both encoders to count up when the robot is moving
forward. If both encoder are connected with leading edge pulse to channel A one will count up
and the other down. This will cause commands like Mix Drive Forward to not work as expected.
All motor and encoder combinations will need to be tuned.
Encoder 1
A
B
GND
+5V
EN1 A
EN1 B
5VDC
GROUND
Encoder 2
A
B
GND
+5V
EN2 B
EN2 A
5VDC
GROUND
M1A
M1B
M2B
M2A
B-
B+
+
-
Battery
RX0
TX0
+5V
GROUND
ROBOCLAW
Motor 1
Motor 2
UART TX
UART RX
5VDC
GROUND
MCU
R1
F1
D1