Pololu Simple - Manual (Page 77)

ID Name Allowed Values Units
“0” or “4” Max Speed Forward 0–3200 0=0%, 3200=100%
“1” or “5” Max Acceleration Forward 0–3200 (0=no limit)
Δspeed per
update period
“2” or “6” Max Deceleration Forward 0–3200 (0=no limit)
Δspeed per
update period
“3” or “7” Brake Duration Forward 0–16384 4 ms
“0” or “8” Max Speed Reverse 0–3200 0=0%, 3200=100%
“1” or “9” Max Acceleration Reverse 0–3200 (0=no limit)
Δspeed per
update period
“2” or “10” Max Deceleration Reverse 0–3200 (0=no limit)
Δspeed per
update period
“3” or “11” Brake Duration Reverse 0–16384 4 ms
Note: The Brake Duration units used by this command are 4 ms, which differs from 1 ms units
used by the Brake Duration variables returned by the Get Variable command.
Note that the Hard Motor Limit settings place restrictions on the limit values you can set with this command
(see
Section 5.2 for more information on the hard motor limits). The hard limits configured through the Simple
Motor Control Center are considered minimal safety requirements, and the temporary limits cannot be changed
in a way that makes the controller “less safe” than this. This means that the Maximum Speed, Acceleration, and
Deceleration temporary limits cannot be increased beyond their hard-limit counterparts and the Brake Duration
limits cannot be decreased below their hard-limit counterparts. If you try to set a temporary limit in a way
prohibited by the corresponding hard limit, the temporary limit value is set to the hard limit and the response
code byte indicates that the value could not be set as requested.
If the arguments to this command are valid, the controller responds to this command with an ASCII digit:
Response
Code
Description
‘0’ No problems setting the limit.
‘1’ Unable to set forward limit to the specified value because of Hard Motor Limit settings.
‘2’ Unable to set reverse limit to the specified value because of Hard Motor Limit settings.
‘3’
Unable to set forward and reverse limits to the specified value because of Hard Motor Limit
settings.
Limit IDs above 11 and limit values outside of their allowed value ranges result in a Serial Format Error.
Pololu Simple Motor Controller User's Guide © 2001–2014 Pololu Corporation
6. Using the Serial Interface Page 77 of 101