speed, acc, dece and position command issue
Posted: Sat Jul 11, 2020 10:46 pm
Hello
I am using Roboclaw solo 30A to drive one motor using serial packet, the issue I face is represented when sending command number 65 "Buffered Drive M1 with signed Speed, Accel, Deccel and Position", the following sequence illustrates the issue:
*assume the motor is at home position (Encoder reading equal 0).
1- sending command number 65 to forward motor from home position (Encoder=0) to a specific position (Encoder=17000) with a specific speed without setting of the Acceleration and deceleration (which means using the default value=655360)
0x80 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x0E 0x48 0x00 0x00 0x00 0x00 0x00 0x00 0x21 0x34 0x01 0x9A 0x9A
*after motor have reached the desired position
2-sending command number 65 to backward motor from its current position (Encoder=17000) to the home position (Encoder=0) with a specific speed with setting of the Acceleration and deceleration (acc=dece=3656)
0x80 0x41 0x00 0x00 0x0E 0x48 0x00 0x00 0x0E 0x48 0x00 0x00 0x0E 0x48 0x00 0x00 0x00 0x00 0x01 0x86 0x4D
*now the problem appears on the behavior of motor which it will move forward for a while then go back to home position, the attachment shows a graph of motor position vs time when performing above commands. Note: this problem will not be appeared in case of setting acceleration and deceleration in the commands, so, I think that the issue is related to the using of default value when sending zero in the acceleration and deceleration.
I am using Roboclaw solo 30A to drive one motor using serial packet, the issue I face is represented when sending command number 65 "Buffered Drive M1 with signed Speed, Accel, Deccel and Position", the following sequence illustrates the issue:
*assume the motor is at home position (Encoder reading equal 0).
1- sending command number 65 to forward motor from home position (Encoder=0) to a specific position (Encoder=17000) with a specific speed without setting of the Acceleration and deceleration (which means using the default value=655360)
0x80 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x0E 0x48 0x00 0x00 0x00 0x00 0x00 0x00 0x21 0x34 0x01 0x9A 0x9A
*after motor have reached the desired position
2-sending command number 65 to backward motor from its current position (Encoder=17000) to the home position (Encoder=0) with a specific speed with setting of the Acceleration and deceleration (acc=dece=3656)
0x80 0x41 0x00 0x00 0x0E 0x48 0x00 0x00 0x0E 0x48 0x00 0x00 0x0E 0x48 0x00 0x00 0x00 0x00 0x01 0x86 0x4D
*now the problem appears on the behavior of motor which it will move forward for a while then go back to home position, the attachment shows a graph of motor position vs time when performing above commands. Note: this problem will not be appeared in case of setting acceleration and deceleration in the commands, so, I think that the issue is related to the using of default value when sending zero in the acceleration and deceleration.