Motor

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Motor

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robotino_motor

 

Access to one Robotino's motors. The motor number is displayed.

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Inputs

Type

Unit

Default

Description

Speed set-point

float

rpm

0

The speed set-point of the motor control in rounds per minute. Please note that there is a 16:1 gear between motor and Robotino's wheel.

Reset position

bool


false

If true the tick counter of the motor's encoder is reset to 0.

Brake

bool


false

If true the motor is stopped.

Acceleration

int


100

Coupling of speed set-point at the input and the speed set-point really transmitted (see ONESTEP Dialog)






Outputs





Actual velocity

float

rpm


The actual velocity of the motor.

Actual position

int



The number of ticks counted since power up of Robotino or since "Reset position" had been true and the false. The ticks are generated by the motor's encoder which generates 2000 ticks per round.

Current

float

A


The current measured at the motor's H-bridge.

 

robotino_motor_position