BASICMICRO RoboClaw Series - Control Mode Setup

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RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

Control Mode Setup

Select the Control Mode drop down (1). There are 4 main modes. See the Control Modes section

of this manual for a detailed explanation of each available mode.

Main Page

Table of Contents3
Warnings9
Introduction10
Motor Selection10
Stall Current10
Running Current10
Shut down10
Run Away10
Wire Lengths10
Power Sources10
Logic Power11
Encoders11
Getting Started12
Initial Setup12
Encoder Setup12
Hardware Overview13
I/O13
Headers13
Control Inputs13
Encoder Inputs13
Logic Battery (LB IN)13
BEC Source (LB-MB)13
Encoder Power (+ -)14
Main Battery Screw Terminals14
Main Battery Disconnect14
Motor Screw Terminals14
Easy to Use Libraries14
Motion Studio Overview15
Motion Studio15
Connection15
Device Status16
Device Status Screen Layout16
Status Indicator (4)17
General Settings18
Configuration Options18
PWM Settings19
Velocity Settings21
Position Settings23
Firmware Updates26
Motion Studio Setup26
Firmware Update26
Control Modes28
Setup28
USB Control28
Analog28
Simple Serial28
Packet Serial28
Configuration Using Motion Studio29
Mode Setup29
Control Mode Setup30
Control Mode Options31
Configuration with Buttons36
Mode Setup36
Modes36
Mode Options37
RC and Analog Mode Options37
Standard Serial and Packet Serial Mode Options37
Battery Cut off Settings38
Battery Options38
Battery Settings39
Automatic Battery Detection on Startup39
Manual Voltage Settings39
Wiring40
Basic Wiring40
Safety Wiring41
Encoder Wiring41
Logic Battery Wiring42
Logic Battery Jumper42
Status Leds43
Status and Error Leds43
Message Types43
LED Blink Sequences44
Inputs45
S3, S4 and S5 Setup45
Limit / Home / E-Stop Wiring46
Regenerative Voltage Clamping47
Voltage Clamp47
Voltage Clamp Circuit47
Voltage Clamp Setup and Testing48
Bridge Mode49
Bridging Channels49
Bridged Channel Wiring49
Bridged Motor Control49
USB Control50
USB Connection50
USB Power50
USB Comport and Baudrate50
RC Control51
RC Mode51
RC Mode with Mixing51
RC Mode with Feedback for Velocity or Position Control51
RC Mode Options51
Pulse Ranges51
RC Wiring Example52
Analog Control53
Analog Mode53
Analog Mode with Mixing53
Analog Mode with Feedback for Velocity or Position Control53
Analog Mode Options53
Analog Wiring Example54
Standard Serial Control55
Standard Serial Mode55
Serial Mode Baud Rates55
Standard Serial Command Syntax55
Standard Serial Wiring Example56
Standard Serial Mode with Slave Select57
Packet Serial58
Packet Serial Mode58
Address58
Packet Modes58
Packet Serial Baud Rate58
Serial Mode Options58
Packet Timeout59
Packet Acknowledgement59
CRC16 Checksum Calculation59
CRC16 Checksum Calculation for Received Data59
Easy to Use Libraries59
Handling Values Larger than a Byte60
Packet Serial Wiring61
Multi-Unit Packet Serial Wiring62
Commands 0 - 7 Compatibility Commands63
Drive Forward M163
Drive Backwards M163
Set Minimum Main Voltage (Command 57 Preferred)63
Set Maximum Main Voltage (Command 57 Preferred)64
Drive Forward M264
Drive Backwards M264
Drive M1 (7 Bit)64
Drive M2 (7 Bit)64
Commands 8 - 13 Mixed Mode Compatibility Commands65
Drive Forward65
Drive Backwards65
Turn Right65
Turn Left65
Drive Forward or Backward (7 Bit)65
Turn Left or Right (7 Bit)65
Advanced Packet Serial66
Commands66
Set Serial Timeout66
Read Serial Timeout66
Read Firmware Version68
Read Main Battery Voltage Level68
Read Logic Battery Voltage Level68
Set Minimum Logic Voltage Level68
Set Maximum Logic Voltage Level68
Read Motor PWM Values69
Read Motor Currents69
Set Main Battery Voltages69
Set Logic Battery Voltages69
Read Main Battery Voltage Settings69
Read Logic Battery Voltage Settings69
Set M1 Default Duty Acceleration69
Set M2 Default Duty Acceleration70
Set Default Speed for M170
Set Default Speed for M270
Read Deafult Speed Settings70
Set S3, S4 and S5 Modes71
Get S3, S4 Amd S5 Modes71
Set Deadband for Rc/Analog Controls71
Read Deadband for Rc/Analog Controls72
Restore Defaults72
Read Default Duty Acceleration Settings72
Read Temperature72
Read Temperature 272
Read Status73
Read Encoder Mode73
Set Motor 1 Encoder Mode74
Set Motor 2 Encoder Mode74
Write Settings to EEPROM74
Read Settings from EEPROM74
Set Standard Config Settings75
Read Standard Config Settings76
Set CTRL Modes76
Read CTRL Modes76
Set CTRL176
Set CTRL277
Read CTRL Settings77
Set Auto Home Duty/Speed and Timeout M177
Set Auto Home Duty/Speed and Timeout M277
Read Auto Home Settings77
Set Speed Error Limits77
Read Speed Error Limits78
Set Position Error Limits78
Read Position Error Limits78
Set Battery Voltage Offsets78
Read Battery Voltage Offsets78
Set Current Blanking Percentages78
Read Current Blanking Percentages78
Set M1 Max Current Limit79
Set M2 Max Current Limit79
Read M1 Max Current Limit79
Read M2 Max Current Limit79
Set PWM Mode79
Read PWM Mode79
Read User EEPROM Memory Location79
Write User EEPROM Memory Location80
Encoders81
Closed Loop Modes81
Encoder Tuning81
Quadrature Encoders Wiring81
Absolute Encoder Wiring82
Encoder Tuning83
Auto Tuning83
Manual Velocity Calibration Procedure84
Manual Position Calibration Procedure84
Encoder Commands86
Read Encoder Count/Value M186
Read Quadrature Encoder Count/Value M287
Read Encoder Speed M187
Read Encoder Speed M287
Reset Quadrature Encoder Counters87
Set Quadrature Encoder 1 Value88
Set Quadrature Encoder 2 Value88
Read Raw Speed M188
Read Raw Speed M288
Read Encoder Counters88
Read Ispeeds Counters88
Read Motor Average Speeds89
Read Speed Errors89
Read Position Errors89
Advanced Motor Control90
Advanced Motor Control Commands90
Set Velocity PID Constants M191
Set Velocity PID Constants M291
Drive M1 with Signed Duty Cycle91
Drive M2 with Signed Duty Cycle92
Drive M1 / M2 with Signed Duty Cycle92
Drive M1 with Signed Speed93
Drive M2 with Signed Speed93
Drive M1 / M2 with Signed Speed93
Drive M1 with Signed Speed and Acceleration93
Drive M2 with Signed Speed and Acceleration94
Drive M1 / M2 with Signed Speed and Acceleration94
Buffered M1 Drive with Signed Speed and Distance94
Buffered M2 Drive with Signed Speed and Distance95
Buffered Drive M1 / M2 with Signed Speed and Distance95
Buffered M1 Drive with Signed Speed, Accel and Distance95
Buffered M2 Drive with Signed Speed, Accel and Distance96
Buffered Drive M1 / M2 with Signed Speed, Accel and Distance96
Read Buffer Length96
Drive M1 / M2 with Signed Speed and Individual Acceleration97

BASICMICRO RoboClaw Series - Control Mode Setup

Table of Contents