RoboteQ Dual Channel Digital Motor Controller AX500 - Manual (Page 41)

AX500 Motor Controller User’s Manual 41
Programmable Acceleration
When using the serial port, acceleration can be one of 24 possible values, selectable using
the Roborun utility or entering directly a value in the MCU’s configuration EEPROM.
Table 4 shows the corresponding acceleration for all Switch and RS232 settings.
Numerically speaking, each acceleration value corresponds to a fixed percentage speed
increment, applied every 16 milliseconds. The value for each setting is shown in the table
below.
Important Warning
Depending on the load’s weight and inertia, a quick acceleration can cause consider-
able current surges from the batteries into the motor. A quick deceleration will cause
TABLE 4. Acceleration setting table
Acceleration
Setting Using
RS232 Acceleration
Setting Using
Switches
%Acceleration per
16ms Time from 0 to
max speed
30 Hex 0.78% 2.05 seconds
20 Hex 1.56% 1.02 seconds
10 Hex 2.34% 0.68 second
00 Hex 0 3.13% 0.51 second
31 Hex 3.91% 0.41 second
21 Hex 4.69% 0.34 second
11 Hex 5.47% 0.29 second
01 Hex 1 6.25% 0.26 second
32 Hex - 7.03% 0.23 second
22 Hex - 7.81% 0.20 second
12 Hex - 8.59% 0.19 second
02 Hex 2 (default) 9.38% 0.17 second
33 Hex - 10.16% 0.16 second
23 Hex - 10.94% 0.15 second
13 Hex - 11.72% 0.14 second
03 Hex 3 12.50% 0.128 second
34 Hex - 13.28% 0.120 second
24 Hex - 14.06% 0.113 second
14 Hex - 14.84% 0.107 second
04 Hex 4 15.63% 0.102 second
35 Hex - 16.41% 0.097 second
25 Hex - 17.19% 0.093 second
15 Hex - 17.97% 0.089 second
05 Hex 5 18.75% 0.085 second