RHINO RMCS –2303 Operating Manual page 27

Bits 15:0 LPR [15:0]: Lines per Rotation
Default: 0x014E
Maximum value: 0xFFFF
Minimum value: 0x0000
This register is allocated to set number of lines of an Encoder of the Motor. The speed feedback and position
feedback depends on this register.
➢
Acceleration Register(ACC)
Address: 0x0C (40013)
Reset value: 0x4E20
Bits 15:0 ACC [15:0]: Acceleration
Default: 0x4E20
Maximum value: 0xFFFF
Minimum value: 0x0000
Acceleration is applied in speed and position control modes when starting the motion or changing the speed.
Deceleration is also applied as per set value when stopping the motor or decreasing the speed.
➢
Speed Register(SPD)
Address: 0x0E (40015)
Reset value: 0x0800
Bits 15:0 SPD [15:0]: base motor speed in RPM
Default: 0x0800
Maximum value: 0xFFFF
Minimum value: 0x0000
If gearbox is attached output RPM will be different.
➢
LSB of Position Command (LSB_POS)
Address: 0x0010 (40017)
Reset value: 0x0000
Bits 15:0 LSB_POS [15:0]: LSB of Position Command
ACC[15:0]
SPD[15:0]
LSB_POS[15:0]
Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000
https://www.robokits.co.in/
rw
rw
rw
27 | P a g e