RoboteQ Dual Channel Digital Motor Controller AX500 - Manual (Page 37)

AX500 Motor Controller User’s Manual 37
Selecting the Motor Control Modes
Closed Loop Speed Control
In this mode, illustrated in Figure 16, an analog tachometer is used to measure the actual
motor speed. If the speed changes because of changes in load, the controller automatically
compensates the power output. This mode is preferred in precision motor control and
autonomous robotic applications. Details on how to wire the tachometer can be found in
“Connecting Tachometer to Analog Inputs” on page 55. Closed Loop Speed control opera-
tion is described in “Closed Loop Speed Mode” on page 73.
Close Loop Position Control
In this mode, illustrated in Figure 16, the axle of a geared down motor is coupled to a
potentiometer that is used to compare the angular position of the axle versus a desired
position. This AX500 feature makes it possible to build ultra-high torque “jumbo servos”
that can be used to drive steering columns, robotic arms, life-size models and other heavy
loads. Details on how to wire the position sensing potentiometers and operating in this
mode can be found in “Closed Loop Position Mode” on page 63.
Controller
FIGURE 14. Effect of commands to motors examples in
mixed mode
FIGURE 15. Motor with tachometer or Encoder for Closed Loop Speed operation