4.2. Kinematics and rotation modes

Contents:

• 4.2.1. Predefined speed rotation mode
• 4.2.2. Rotation for predefined point
• 4.2.3. Predefined displacement mode
• 4.2.4. Acceleration mode
• 4.2.5. Backlash compensation
• 4.2.6. Rotation reversal
• 4.2.7. Recommendations for accurate rotation
• 4.2.8. PID-algorithm for DC engine control
  • 4.2.8.1. Algorithm description
  • 4.2.8.2. Particular properties of the algorithm
    • 4.2.8.2.1. PID regulator coefficients
    • 4.2.8.2.2. Reaching target position
  • 4.2.8.3. PID regulator tuning recommendations
• 4.2.9. Feedback EMF
  • 4.2.9.1. Advantages
  • 4.2.9.2. Behavior of the engine when exposed to an external force
  • 4.2.9.3. Selecting L, R, and backEMF parameters for EMF algorithm
  • 4.2.9.4. The choice of PID coefficients for EMF
    • 4.2.9.4.1. Operation algorithm
• 4.2.10. Feedback encoder
• 4.2.11. Feedback encoder mediated
• 4.2.12. Stop motion modes
  • 4.2.12.1. Immediate stop
  • 4.2.12.2. Stop with deceleration
• 4.2.13. PID-algorithm for BLDC engine control
  • 4.2.13.1. PID-algorithm description
  • 4.2.13.2. PID regulator manual tuning
    • 4.2.13.2.1. Steps to adjust the coefficients: