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PC software UM0289

14/29

Enable/Disable Control Parameters panel:

● Closed Loop: This check control enables/disables the text boxes and push buttons of

the Control Parameters and Control Loop Time panels.

Control Parameters panel:

This panel allows the user to perform a PID speed closed loop control with encoder

feedback. The user must fill the following text boxes and then press the Set button in order

to set the control parameters:

● Enc. Pulses/r: The number of pulses per revolution of motor encoder.

● Speed: Speed of the motor expressed in RPM. Allowed values go from 0 to 3000 rpm

(steps 1 rpm).

● P: Proportional gain of the PID control. Allowed values go from 0 to 100, in steps of

0.01.

● I: Integral gain of the PID control. Allowed values go from 0 to 100, in steps of 0.01.

● D: Derivative gain of the PID control. Allowed values go from 0 to 100, in steps of 0.01.

● Set: Set the control parameters.

Note: If values out of range are inserted in one or more text boxes, a pop-up window will appear

indicating that at least one value is out of range.

● Start: Start the PID speed closed loop control. The rotation of the motor remains the

same of the motor before starting the control.

● Stop: Stop the PID speed closed loop control. The motor will rotate with a speed

accordingly to the duty cycle calculated in the last control routine before stopping.

● Get: This command returns the status of the control parameters and of the control loop

time actually memorized in the MDK-ST10 board.

Control loop time:

This text box allow the user to insert the value of control loop time (in case of closed loop

operation); the range of this parameter is from 1 to 52 ms (with 200 us steps)

Note: For control loop time is intended the frequency of adjustment of PWM duty cycle (according

to PID action) in order to reach the speed reference.

3.1.2 EVAL 6205 window

The 6205 window is designed to allow the user to drive a DC motor through EVAL6205.

After starting eMotion click on the 6205 window icon or choose New - 6205 window from the

File menu. A new 6205 window is now opened.

Note: The functions of this window are the same of 6235 window, except for the motor control

panel.

ST eMotion User Manual

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