PWM Settings

The PWM Settings screen is used to control RoboClaw for testing. Sliders are provided to control each motor channel. This screen can also be used to determine the QPPS of attached encoders.

Motion Studio PWM Settings screen showing the graph area, PWM/Torque settings, motor control sliders, and graph channel selectors
The PWM Settings screen (source: PDF page 25).

Graph

Function Description
Grid Displays channel data with a 100 ms update rate and one second horizontal divisions.

PWM/Torque Settings

Function Description
L MCP only. Motor inductance in henries.
R MCP only. Motor resistance in ohms.

Control

Function Description
Motor 1 Controls motor 1 duty percentage forward and reverse.
Motor 2 Controls motor 2 duty percentage forward and reverse.
On Release When enabled, the command is sent only after the slider is released.
Sync Motors When enabled, the Motor 1 and Motor 2 sliders move together, sending the same command to both motors.

Control – Motor 1 / Motor 2

Function Description
Accel Acceleration rate used when moving the sliders.
Duty Displays the numeric value of the motor slider in tenths of a percent (0 to ±1000).

Graph Channels

Function Description
Scale Sets the vertical scale to fit the range of the specified channel.
Channels Selects the data to plot for a given channel. The selected value is graphed in the color shown. The available channel options are listed below.
Save CSV Saves the collected data to a CSV file.
Clear Clears the channel’s graphed line.
  • Setpoint: the commanded duty, speed, or position, depending on the active screen
  • PWM: actual motor PWM (duty cycle)
  • Speed: current encoder speed (one-second average)
  • iSpeed: current encoder speed (instantaneous)
  • Speed Error: current velocity PID error
  • Position: current encoder position
  • Position Error: current position PID error
  • Current: motor current in amps
  • Temperature: motor/controller temperature (°C)
  • Main Battery: main battery voltage
  • Logic Battery: logic supply voltage