RoboteQ AX3500 user manual Closed Loop Speed Mode, Selecting the Speed Mode, Mode Description

Page 101

Closed Loop Speed Mode

Mode Description

SECTION 10

Closed Loop Speed Mode

This section discusses the AX3500 Close Loop Speed mode.

Mode Description

In this mode, an analog or digital speed sensor measures the actual motor speed and com- pares it to the desired speed. If the speed changes because of changes in load, the control- ler automatically compensates the power output. This mode is preferred in precision motor control and autonomous robotic applications.

The AX3500 incorporates a full-featured Proportional, Integral, Differential (PID) control algorithm for quick and stable speed control.

Selecting the Speed Mode

The speed mode is selected by changing the Motor Control parameter in the controller to either:

•A and B Closed Loop Speed, Separate

•A and B Closed Loop Speed, Mixed

•A Closed Loop Speed, B Position

Note that in the last selection, only the first motor will operate in the Closed Loop Speed mode.

Changing the parameter to select this mode is done using the Roborun Utility. See “Load- ing, Changing Controller Parameters” on page 185.

For safety reasons and to prevent this mode from being accidentally selected, Closed Loop Speed modes CANNOT be selected by configuring the controller using the built-in switches and display.

AX3500 Motor Controller User’s Manual

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Image 101

Contents User’s Manual Dual Channel High Power Digital Motor ControllerAX3500 Version 1.9b. June 1 AX3500 Motor Controller User’s ManualRevision History Revision HistoryDate VersionVersion 1.9b. June 1 Revision History General Operation SECTION SECTIONSECTION SECTION SECTION SECTION Programming using built-in Switches and Display Version 1.9b. June 1 Avoid Shorts when Mounting Board against Chassis Important SafetyDo not Connect to a RC Radio with a Battery Attached WarningsImportant Safety Warnings AX3500 Locating the Switches and ConnectorsQuick Start What you will needAX3500 Quick Start Connecting to the Batteries and Motors Connecting to the Batteries and MotorsImportant Warning Connecting to the 15-pin ConnectorSignal RC ModeConnecting the R/C Radio Connecting the R/C RadioPowering On the Controller Function Button OperationProg and Set button status Default Controller Configuration Default Controller ConfigurationDefault Values ParameterConnecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision Number= Software version 1.9b Exploring furtherProduct Description SECTION 3AX3500 Motor Controller OverviewMultiple Command Modes Technical featuresAutomatic Joystick Command Corrections AX3500 Motor Controller OverviewLow Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Optical Encoder InputsCompact Open Frame PCB Design Advanced Safety FeaturesData Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Connecting Power and Motors to the Controller Controller PowerPower Control input is Controller PowerAnd Main Battery mended Off ConfigurationPowering the Controller from a single Battery Controller Powering SchemesController Powering Schemes Powering the Controller Using a Main and Backup BatteryConnecting the Motors Single Channel Operation Single Channel OperationConverting the AX3500 to Single Channel Power Fuses Power Regeneration Considerations Wire Length LimitsElectrical Noise Reduction Techniques Wire Length LimitsUndervoltage Protection Overvoltage ProtectionUsing the Controller with a Power Supply Using the Controller with a Power SupplyVersion 1.9b. June 1 General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationSelecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control Temperature-Based Current Limitation User Selected Current Limit SettingsPosition Feedback Position Sensor Gear box SettingBattery Current vs. Motor Current Battery Current vs. Motor CurrentMotor Current = Battery Current / PWM ratio TemperatureMotor Current = Battery Current / PWM Ratio Regeneration Current LimitingSetting Using Programmable AccelerationSwitches Programmable Acceleration15 Hex Command Control Curves17.97% 0.089 secondLeft / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected CurveParameter Value Speed AdjustmentEmergency Stop using External Switch Emergency Shut Down Using Controller SwitchesActivating Brake Release or Separate Motor Excitation Activating Brake Release or Separate Motor ExcitationUsing the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsUsing the Inputs to turn Off/On the Power MOSFET transistors Inverted OperationSelf-Test Mode Self-Test ModeEncoder Speed or Position AX3500 Connections Connecting Sensors and Actuators to Input/OutputsAX3500 Connections Connecting Sensors and Actuators to Input/Outputs AX3500’s Inputs and OutputsActivated AX3500’s Inputs and OutputsI/O type I/O List and Pin Assignment Pin1Signal depending Input orConnecting devices to Output C Connecting devices to Output CImportant warning Connecting Switches or Devices to Input FConnecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert InputAnalog Inputs Connecting Position Potentiometers to Analog InputsConnecting Tachometer to Analog Inputs Connecting Tachometer to Analog InputsAna2 Operating ModeAna2 p10 Ana 1 p11Ana 3 p12 Ana 4 p8Connecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhmUsing the Analog Inputs to Monitor External Voltages Internal Voltage Monitoring Sensors Connecting User Devices to Analog InputsInternal Heatsink Temperature Sensors Connecting User Devices to Analog InputsAnalog Temperature Conversion C Source CodeValue else Internal Heatsink Temperature SensorsLoTemp = i * 5 HiTemp = LoTemp + 5 lobound = TempTablei hibound = TempTablei+1Version 1.9b. June 1 RC Pulse Output Overview RC Pulses OutputRC Pulse Output Overview Connecting Servos to Controllers Connector Location and PinoutServo Connection to RevA Controllers RC Pulses OutputConnecting to Slave Controllers Connecting to Slave ControllersServo Connection to RevB Controllers Command Value Pulse Timing InformationPulse Width 1.00ms 1.50msRC Channel Testing Using the PC Utility RC Channel Testing Using the PC UtilityVersion 1.9b. June 1 Optical Incremental Encoders Overview Connecting and Using the Encoder FunctionOptical Incremental Encoders Overview Connecting and Using the Encoder Function Recommended Encoder TypesPulse Frequency in Hz = RPM / 60 * PPR Connecting the EncoderConnecting the Encoder Motor - Encoder Polarity Matching Cable Length and Noise ConsiderationsName Cable ColorVoltage Levels, Thresholds and Limit Switches Voltage Levels, Thresholds and Limit SwitchesWiring Optional Limit Switches Effect of Limit Switches Wiring Limit Switches Without EncodersWiring Limit Switches Without Encoders Motor 1 FwdUsing the Encoder to Measure Speed Using the Encoder Module to Measure DistanceMotor 2 Fwd Motor 2 RevUsing the Encoder to Track Position Using the Encoder to Track PositionImportant Notice Distance = Destination - Counter value / Divider The actual formula is as followsRS232 Communication with the Encoder Module Encoder Testing and Setting Using the PC UtilityRS232 Communication with the Encoder Module Version 1.9b. June 1 Mode Description Closed Loop Position ModeSelecting the Position Mode Mode DescriptionSensor Mounting Position Sensor SelectionPosition Feedback Position Sensor Gear box Closed Loop Position ModeFeedback Potentiometer wiring Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiring in Analog Mode Feedback Wiring in Analog Mode on Single Channel Controllers Feedback Wiring in RC or RS232 Mode on Single Channel ControllersAnalog Feedback on Single Channel Controllers Analog Feedback on Single Channel ControllersSensor and Motor Polarity Using Optical Encoders in Position ModeEncoder Error Detection and Protection Important Safety WarningAdding Safety Limit Switches Encoder Error Detection and ProtectionFIGURE 62. Safety limit switches interrupting power to motors Using Current Limiting as Protection Using Current Limiting as ProtectionControl Loop Description PID tuning in Position Mode Applied Power = Command Value - Actual Position * Proportional Gain PID tuning in Position ModeVersion 1.9b. June 1 Selecting the Speed Mode Closed Loop Speed ModeTachometer wiring Using Optical Encoder for Speed FeedbackDigital Optical EncodTachometer or Encoder Mounting Closed Loop Speed ModeSpeed Sensor and Motor Polarity Speed Sensor and Motor PolarityAdjust Offset and Max Speed PID tuning in Speed Mode PID tuning in Speed ModeIn Speed Mode, the Integral component of the PID is the most important and must be set first. The Proportional and Differential component will help improve the response time and loop stability Use of the LED Display Normal and Fault Condition LED MessagesUse of the LED Display Normal and Fault Condition LED Messages Motor Direction StatusPossible Display MotorNo Control Fault MessagesFault Messages Rapidly FlashingSelf-Test Display Temporary FaultsPermanent Faults Self-Test Display = Software version 1.9bVersion 1.9b. June 1 SECTION 12 R/C Operation Selecting the R/C Input Mode Connector I/O Pin Assignment R/C ModePin1 R/C OperationR/C Input Circuit Description R/C Input Circuit DescriptionSupplied Cable Description FIGURE 75. RC connection cable Powering the Radio from the controllerFIGURE 74. RC Cable wiring diagram Powering the Radio from the controller Operating the Controller in R/C mode Connecting to a Separately Powered RadioReception Watchdog Reception WatchdogR/C Transmitter/Receiver Quality Considerations Important Notice about PCM RadiosJoystick Deadband Programming Joystick Deadband ProgrammingDeadband Parameter Value Deadband as Percent of full Joystick TravelJoystick Calibration Left/Right Tuning AdjustmentAutomatic Joystick Calibration Automatic Joystick CalibrationOn before entering joystick calibration Data Logging in R/C ModeTo Controller Data Logging in R/C ModeDB15 Male Version 1.9b. June 1 Analog Control and Operation Analog Control and Operation Connector I/O Pin Assignment Analog ModeConnecting to a Voltage Source Connecting to a Voltage SourceConnecting a Potentiometer Selecting the Potentiometer Value Analog Deadband Adjustment Under Voltage Safety Power-On SafetyData Logging in Analog Mode Motor Power at 0%Data Logging in Analog Mode Version 1.9b. June 1 Use and benefits of RS232 Serial RS-232 Controls and OperationUse and benefits of RS232 Serial RS-232 Controls and Operation Connector I/O Pin Assignment RS232 ModeCable configuration Cable configurationExtending the RS232 Cable Establishing Manual Communication with a PC Communication Settings9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Roboteq v1.9b 06/01/07 s RS232 Communication with the Encoder ModuleEstablishing Manual Communication with a PC Data Logging String in R/C or Analog mode Entering RS232 from R/C or Analog modeRS232 Mode if default Commands Acknowledge and Error MessagesCommand Acknowledgement Command ErrorRS-232 Watchdog Controller Commands and QueriesCommand TypeSet Accessory Output Set Motor Command ValueQuery Power Applied to Motors Controller Commands and QueriesSyntax Query Amps from Battery to each Motor ChannelQuery Heatsink Temperatures Query Analog Inputs?r or ?R ?m or ?MReset Controller Query Battery VoltagesQuery Digital Inputs ExamplesApply Parameter Changes Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Read parameterActive after Flash Configuration Parameters ListLocation Motor Control Mode Input Control ModeAccess After ResetDefinition Amps LimitAcceleration Input Switches Function RC Joystick or Analog Deadband Left/Right AdjustExponentiation on Channel 1 and Channel 08 - ChannelDefault Encoder Distance Divider Default Encoder Time Base 1 and0B - Encoder 0C - EncoderJoystick Min, Max and Center Values Default PID Gains0F - Proportional Gain 10 - Integral GainReading & Changing Operating Parameters at Runtime Reading & Changing Operating Parameters at RuntimeRead/Change PID Values Operating Modes RegistersAccess Read/Write Effective Instantly 80 - ChannelController Status Register PWM Frequency RegisterAddress Access Read/Write Effective Instantly Fault ConditionCurrent Amps Limit Registers Controller Identification RegisterModel or Function 8B - ChannelSet/Reset Encoder Counters and Destination Registers RS232 Encoder Command SetRead Encoder Counter RS232 Encoder Command Setq or !Q n Read Speed7 Set Encoder 1 destination register with value in buffer 8 Set Encoder 2 destination register with value in bufferRead Speed/Distance Read Encoder Limit Switch StatusRead Distance Read / Modify Encoder Module Registers and Parameters Important NoteSwitch n ValueSize Parameter DescriptionRegister Description Switch StatusEncoder Hardware ID code Address *84Counter Read/Write Mailbox Speed or Distance 1 orCounter 1 and Destination Register 1 andSpeed 1 and Distance 1 andTime Base 1 and Encoder ThresholdRC Pulse Outputs Activation Counter Read Data FormatDefault Value Counter Read Data FormatController Output Decimal32-bit Hex Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeData Logging Cables 00 11 22 33 44 55 66 77 88 99 AA BB CCAnalog and R/C Modes Data Logging String Format Decimal to Hexadecimal Conversion Table Decimal to Hexadecimal Conversion TableAX3500 Motor Controller User’s Manual AX3500 Motor Controller User’s Manual Decimal to Hexadecimal Conversion TableVersion 1.9b. June 1 Programming Methods SECTION 15 Configuring the Controller using the SwitchesProgramming using built-in Switches and Display Program Entering Programming ModeConfiguring the Controller using the Switches Programming using built-in Switches and Display Changing parametersThe Special Case of Joystick Calibration Exiting the Parameter Setting Mode Restoring factory defaultsProgrammable Parameters List This manual is for software version 1.9bFor safety reasons, the modes below Possible Values defaultcannot be selected using the switches Programmable Parameters ListPossible Values default System Requirements SECTION 16 Using the Roborun Configuration UtilityDownloading and Installing the Utility Using the Roborun Configuration Utility Connecting the Controller to the PCRoborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions1- Program Revision Number 2- Controller and Communication Link Information3- Parameter Selection and Setting and Special Functions Getting On-Screen Help4- File and Program Management Commands 5- View Controller Connector PinoutLoading, Changing Controller Parameters Control SettingsLoading, Changing Controller Parameters 1- Controller Input3- Input Command Adjustment Power Settings4- Emergency Stop or Invert Switch Select 5- Effect of Digital InputsLoading, Changing Controller Parameters 2- Left/Right Adjust Analog or R/C Specific Settings3- Acceleration Setting 1- DeadbandClosed Loop Parameters Encoder Setting and TestingEncoder Setting and Testing Encoder Module Parameters SettingViewing Encoder Data RC Output TestingExercising the Motors Running the Motors Running the Motors3- Measurement 2- Motor Power setting1- Run/Stop Button 5- Transmit and Receive Data 4- Real-Time Strip Chart Recorder6- Input Status and Output Setting 7- Data Logging and Timer Logging Data to Disk8- Joystick Enable 4- Reset Timer buttonParameter Header Connecting a JoystickData type/range Measured Parameter1- Terminal Screen Using the Console2- Command Entry Loading and Saving Profiles to Disk Viewing and Logging Data in Analog and R/C Modes4- Send Reset String Viewing and Logging Data in Analog and R/C ModesOperating the AX3500 over a Wired or Wireless LAN Updating the Controller’s Software Updating the Controller’s SoftwareUpdating the Encoder Software Creating Customized Object FilesCreating Customized Object Files Version 1.9b. June 1 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisPrecautions to observe Wire Dimensions Wire DimensionsWeight Version 1.9b. June 1 Mechanical SpecificationsAX3500 Motor Controller User’s Manual

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