Mode 2 - Position Control Mode - RHINO RMCS –2303 Operating Manual

Mode 2 - Position Control Mode

The position control mode allows to go to absolute position with reference to 0 as start position. Current position
can be set to 0 at any point of time. The drive also manages the speed and acceleration/deceleration as per set
parameter while responding to any change in set position.
When a 32bit value is set through register 16 and 18 the drive will try to move motor to that position. It can be
updated even when motor is moving. Motor can be stopped any time or speed can be changed anytime even
while moving.
Hardware Connection:
POSITION
MODE
COUNT CALCULATION:
Lines per rotation concept is very important for Position Control mode. For example we will use
HIGH TORQUE HIGH PRECISION ENCODER DC GEARED MOTOR 12V 200RPM (RMCS-5014)
https://robokits.co.in/motors/encoder-dc-servo/high-torque-high-precision-encoder-dc-geared-motor-12v-200rpm
Lines per rotation = 334
For one rotation of encoder, the no of counts = 334 x 4 = 1336 (As it is quad encoder) So for 1336 steps, the base
motor would move one rotation.
20 | P a g e
https://www.robokits.co.in/