0 - Open Loop Speed Control
1 - Closed Loop Speed Control
For open loop speed control: The accelerations rate (in 1/seconds) of the motor command. For example, if the motor command is 500, and the acceleration rate is 100, the motor controller will reach the max motor command value in 5 seconds.
For closed loop speed control: Acceleration value is in RPM per second. For example at a value of 100 RMP/s, it will take the motor controller 5 seconds to reach send an RMP value of 500. The actual value of the RPM is also impacted by the PID values.
Similar concept to acceleration rate, but it is used for motor deceleration.
The motor controller board hardware can disable the motor based on the following AMP limits:
0: Sets the motor controller to Standby mode. Disables power to the motor.
2: Amp limit is 18 AMPS (Default)
4: Disable Amp limit check, however hardware control still limits the controller to exceed 45 AMPS, but the software will no enter the Amp Limit Sate if the disable option is selected.
Sets the proportional gain. A good starting number for most motors is 5 to 50.
Sets the integral gain, A good starting number is 0, change for fine tuning the motor controller.
Sets the differential gain, A good starting number is 0, change for fine tuning the motor controller.
Max RPM sets the actual speed in closed loop where the motor command varies from -1000 to 1000, which is equivalent to a speed of -MAX RPM to MAX RPM.
Number of pole pairs of the motor. This value is used to determine the RPM of the motor.
Braking timeout in milliseconds. Once a motor command of 0 is sent, the motor will enter into electromagnetic braking mode after the time specified.
During electromagnetic braking all low switches are opened and the windings are connected with each other. This force limits the motor movement.
To disable braking timeout, set this value to 0.
Motor watchdog timeout, ms
Time in millisecond the motor controller expects a motor speed command (MC), otherwise the motor power will be set to 0.
To disable the motor watchdog, set this value to 0.
Enable PID error checking
When enabled a basic PID error check is performed. If the PID error differs by 50% of the target RPM value for 2 seconds, the motor will be disabled. This check is only performed when the RPM is greater than 50.