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AX500 Motor Controller User’s Manual 41
Programmable Acceleration
When using the serial port, acceleration can be one of 24 possible values, selectable using
the Roborun utility or entering directly a value in the MCU’s configuration EEPROM.
Table 4 shows the corresponding acceleration for all Switch and RS232 settings.
Numerically speaking, each acceleration value corresponds to a fixed percentage speed
increment, applied every 16 milliseconds. The value for each setting is shown in the table
below.
Important Warning
Depending on the load’s weight and inertia, a quick acceleration can cause consider-
able current surges from the batteries into the motor. A quick deceleration will cause
TABLE 4. Acceleration setting table
Acceleration
Setting Using
RS232
Acceleration
Setting Using
Switches
%Acceleration per
16ms
Time from 0 to
max speed
30 Hex 0.78% 2.05 seconds
20 Hex 1.56% 1.02 seconds
10 Hex 2.34% 0.68 second
00 Hex 0 3.13% 0.51 second
31 Hex 3.91% 0.41 second
21 Hex 4.69% 0.34 second
11 Hex 5.47% 0.29 second
01 Hex 1 6.25% 0.26 second
32 Hex - 7.03% 0.23 second
22 Hex - 7.81% 0.20 second
12 Hex - 8.59% 0.19 second
02 Hex 2 (default) 9.38% 0.17 second
33 Hex - 10.16% 0.16 second
23 Hex - 10.94% 0.15 second
13 Hex - 11.72% 0.14 second
03 Hex 3 12.50% 0.128 second
34 Hex - 13.28% 0.120 second
24 Hex - 14.06% 0.113 second
14 Hex - 14.84% 0.107 second
04 Hex 4 15.63% 0.102 second
35 Hex - 16.41% 0.097 second
25 Hex - 17.19% 0.093 second
15 Hex - 17.97% 0.089 second
05 Hex 5 18.75% 0.085 second