RoboteQ Automatic Switching from RS232 to RC Mode, AX3500 Motor Controller User’s Manual

Page 169
Automatic Switching from RS232 to RC Mode

Automatic Switching from RS232 to RC Mode

Automatic Switching from RS232 to RC Mode

In many computer controlled applications, it may be useful to allow the controller to switch back to the RC mode. This would typically allow a user to take over the control of a robotic vehicle upon computer problem.

While the AX3500 can operate in either RC Radio or RS232 mode, the RS232 Data Input and RC Pulse Input 1 share the same pin on the connector. External hardware is, therefore, needed to switch this pin from the RS232 source or the RC Radio. The diagram in Figure 95 shows the external hardware required to perform such a switch.

A third RC channel is used to activate a dual-throw relay. When the radio is Off, or if it is On with the channel 3 off, the relay contact brings the RS232 signal to the shared input. The second relay contact maintains the Power Control wire floating so that the controller remains on.

When the RC channel 3 is activated, the relay turns On and brings the RC radio signal 1 to the shared input. The second relay contact brings a discharged capacitor onto the Power Control wire causing the controller to reset. Resetting the controller is necessary in order to revert the controller in the RC mode (the controller must be configured to default to RC mode).

RC Radio

Computer

 

RC Activated

 

Switch

 

4.7k

RC3

Power Control

 

RC1

 

RC2

220uF

 

TxData

RC1/RxData

 

 

 

 

RC2/InputF

Controller

RxData

TxData

 

FIGURE 95. External circuit required for RS232 to RC switching

The switching sequence goes as follows:

Upon controller power on with Radio off: (or Radio on with RC ch3 off)

•Controller runs in RC mode (must be configured in RC mode)

•Computer must send 10 consecutive Carriage Returns. Controller enters RS232 mode

Controller is on, Radio urns On with RC ch3 On

•Controller is reset, returning to RC mode

•Controller will output the continuous parameter strings on the RS232 output. Com- puter thus knows that RC mode is currently active. Computer sends Carriage Return strings to try to switch controller back in RS232 mode. Since the RS232 line is not connected to the controller, mode will not change.

AX3500 Motor Controller User’s Manual

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Contents AX3500 Dual Channel High Power Digital Motor ControllerUser’s Manual 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 ModePowering On the Controller Connecting the R/C RadioConnecting the R/C Radio Prog and Set button status Button OperationFunction 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 InputsData Logging Capabilities Advanced Safety FeaturesCompact Open Frame PCB Design 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 Converting the AX3500 to Single Channel Single Channel OperationSingle Channel Operation 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 SupplyAX3500 Motor Controller User’s Manual General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationClose Loop Position Control Closed Loop Speed ControlSelecting the Motor Control Modes 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 OutputsI/O type AX3500’s Inputs and OutputsActivated 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 InputsValue Temperature Conversion C Source CodeAnalog else Internal Heatsink Temperature SensorsLoTemp = i * 5 HiTemp = LoTemp + 5 lobound = TempTablei hibound = TempTablei+1AX3500 Motor Controller User’s Manual RC Pulse Output Overview RC Pulses OutputRC Pulse Output Overview Connecting Servos to Controllers Connector Location and PinoutServo Connection to RevA Controllers RC Pulses OutputServo Connection to RevB Controllers Connecting to Slave ControllersConnecting to Slave Controllers Command Value Pulse Timing InformationPulse Width 1.00ms 1.50msRC Channel Testing Using the PC Utility RC Channel Testing Using the PC UtilityAX3500 Motor Controller User’s Manual Optical Incremental Encoders Overview Connecting and Using the Encoder FunctionOptical Incremental Encoders Overview Connecting and Using the Encoder Function Recommended Encoder TypesConnecting the Encoder Connecting the EncoderPulse Frequency in Hz = RPM / 60 * PPR 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 RevImportant Notice Using the Encoder to Track PositionUsing the Encoder to Track Position 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 AX3500 Motor Controller User’s Manual 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 in RC or RS232 Mode Feedback Potentiometer wiringFeedback Potentiometer wiring 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 Control Loop Description Using Current Limiting as ProtectionUsing Current Limiting as Protection PID tuning in Position Mode Applied Power = Command Value - Actual Position * Proportional Gain PID tuning in Position ModeAX3500 Motor Controller User’s Manual 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 FlashingPermanent Faults Temporary FaultsSelf-Test Display Self-Test Display = Software version 1.9bAX3500 Motor Controller User’s Manual SECTION 12 R/C Operation Selecting the R/C Input Mode Connector I/O Pin Assignment R/C ModePin1 R/C OperationSupplied Cable Description R/C Input Circuit DescriptionR/C Input Circuit Description FIGURE 74. RC Cable wiring diagram Powering the Radio from the controllerFIGURE 75. RC connection cable 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 ModeDB15 Male Data Logging in R/C ModeTo Controller AX3500 Motor Controller User’s Manual Analog Control and Operation Analog Control and Operation Connector I/O Pin Assignment Analog ModeConnecting a Potentiometer Connecting to a Voltage SourceConnecting to a Voltage Source 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 AX3500 Motor Controller User’s Manual 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 ModeExtending the RS232 Cable Cable configurationCable configuration 9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Communication SettingsEstablishing Manual Communication with a PC Establishing Manual Communication with a PC RS232 Communication with the Encoder ModuleRoboteq v1.9b 06/01/07 s 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 parameterLocation Flash Configuration Parameters ListActive after Motor Control Mode Input Control ModeAccess After ResetAcceleration Amps LimitDefinition 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 Distance Read Encoder Limit Switch StatusRead Speed/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 Format32-bit Hex DecimalController Output Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeAnalog and R/C Modes Data Logging String Format 00 11 22 33 44 55 66 77 88 99 AA BB CCData Logging Cables 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 using built-in Switches and Display SECTION 15 Configuring the Controller using the SwitchesProgramming Methods Configuring the Controller using the Switches Entering Programming ModeProgram The Special Case of Joystick Calibration Changing parametersProgramming using built-in Switches and Display 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 Downloading and Installing the Utility SECTION 16 Using the Roborun Configuration UtilitySystem Requirements 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 SettingExercising the Motors RC Output TestingViewing Encoder Data Running the Motors Running the Motors1- Run/Stop Button 2- Motor Power setting3- Measurement 6- Input Status and Output Setting 4- Real-Time Strip Chart Recorder5- Transmit and Receive Data 7- Data Logging and Timer Logging Data to Disk8- Joystick Enable 4- Reset Timer buttonParameter Header Connecting a JoystickData type/range Measured Parameter2- Command Entry Using the Console1- Terminal Screen 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 AX3500 Motor Controller User’s Manual Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mounting ConsiderationsMechanical Specifications Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisPrecautions to observe Weight Wire DimensionsWire Dimensions AX3500 Motor Controller User’s Manual Mechanical SpecificationsVersion 1.9b. June 1
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