RHINO RMCS –2303 Operating Manual page 33

This function is used to disable motor in analog control mode.
Digital Speed Control Mode:
rmcs.Speed(slave_id,5000); //enter speed within range of 0-65535
When drive is used in Digital Speed control mode, this function is used to change the speed. Value
from 0
to 65535 can be set but all motors have some maximum rpm. When value is more than possible RPM
motor will run at full speed, this may cause jerks in motion commands.
rmcs.Enable_Digital_Mode(slave_id,1);
Enable motor in digital mode with forward or reverse direction. 0 is forward (encoder count +) and 1 is reverse
(encoder count -).
Forward : rmcs.Enable_Digital_Mode(slave_id,0);
rmcs.Speed_Feedback(slave_id);
This function returns the current speed of motor in long integer. Speed less than 0 is received when
motor is moving in reverse direction.
rmcs.Brake_Motor(slave_id, 1);
This function is used to brake motor in digital speed control mode. Should be used with direction as
below, if not drive may misbehave and motor may jerk.
Forward: rmcs.Brake_Motor(slave_id,0);
rmcs.Disable_Digital_Mode(slave_id,1);
This function will disable Digital speed control mode in entered direction. Should be used with direction
as below, if not drive may misbehave and motor may jerk.
Forward: rmcs.Disable_Digital_Mode(slave_id,0);
Position Control Mode:
rmcs.Absolute_position(slave_id,10000);
function enables drive in position control mode. Positive range is 1 to 2147483647 and negative
range is -1 to -2147483648. Direction is selected automatically by drive.
rmcs.Absolute_position(slave_id,-10000);
rmcs.Position_Feedback(slave_id);
Current Position of motor can be read by this function on Serial monitor. This function will return long integer.
Reverse:
Reverse: rmcs.Brake_Motor(slave_id,1);
Reverse:
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rmcs.Enable_Digital_Mode(slave_id,1);
rmcs.Disable_Digital_Mode(slave_id,1);
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