Actuonix L16-SS-GG-VV-P Manual de configuração do utilizador - Página 8

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1023 will allow the actuator to achieve full speed. The actuator may exceed this value

while attempting to overcome a stall condition.

0x0B SET_MIN_PWM_VALUE

This is the minimum PWM value that can be applied by the PD control.

0x0C SET_Kp

This is the constant for the proportional control term. Increasing this value will make the

actuator approach the set point faster; reducing this will make the approach slower. If the

actuator is overshooting the set point before stopping, then reducing this value will

reduce the amount of overshoot.

0x0D SET_Kd

This value sets the rate at which the differential portion of the controller increases during

a stall condition. This is not a true differential term. However, the effect is similar. As

long as the actuator detects a stall condition, the derivative term is incremented. If the

stall condition is resolved the stall timer will be reset, otherwise the stall timer will elapse

and stop the motor.

0x0E SET_AVERAGE_RC

This value determines the number of samples used in filtering the RC input signal before

the actuator moves to a new position. Increasing this value can increase stability but does

effect response time. The default value is four. The delay time can be calculated by

multiplying this value by 20ms. This value does not affect the feedback filter delay. The

actuators control response to a valid input signal will not be affected.

0x0F SET_AVERAGE_ADC

This value determines the number of samples used in filtering the feedback and analog

input signals (if active). Increasing this value has a similar delay effect as described

above, however this delay does affect actuator control response. Since this delay allows

the actuator to move a certain distance before updating the speed based on the PD values,

other values may need to be re-tuned if this value is changed.

0x10 GET_FEEDBACK

This command causes the actuator to respond with a feedback packet containing the

current actuator position. This is read directly from the ADC and may not be equal to the

set point if the actuator has not yet reached it.

0x20 SET_POSITION