RoboteQ AX3500 user manual 00 11 22 33 44 55 66 77 88 99 AA BB CC, Data Logging Cables

Page 170

Analog and R/C Modes Data Logging String Format

Controller is on, Radio is turned Off (or Radio On with RC ch3 Off)

•Relay deactivates. RS232 is now connected to shared input.

•String of Carriage Returns now received by controller.

•Computer looks for OK prompt to detect that the RS232 mode is now active.

Note: Wait 5 seconds for the capacitor to discharge before attempting to switch to RC mode if doing this repeatedly. Controller will not reset otherwise.

Analog and R/C Modes Data Logging String Format

When the controller is configured in R/C or Analog mode, it will automatically and continu- ously send a string of ASCII characters on the RS232 output.

This feature makes it possible to log the controller’s internal parameters while it is used in the actual application. The data may be captured using a PC connected via an RS232 cable

FIGURE 1. Pin orlocationswirelessonmodemthe contorollerinto’sa 15PDA-pininstalledconnectorin the actual robot. Details on how to wire the DB15 connector is described on page 125 for the R/C mode and on page 133 for the Ana- log mode.

This string is composed of a start character delimiter, followed by 13 two-digit Hexadecimal numbers representing 13 internal parameter values, and ending with a Carriage Return character. The figure below shows the structure of this string.

miter

1

2

ower

1

2

1

2

1

2

Volts

Volts

pd/Pos

er

ower

In

In

Start

CommCommandOutputOutput

Analog Analog

Amps

Amps

TemperatureMain Internal EncoderEnd

Temperature

Bat

S

Delimit

Deli

P

P

1

2

t

: 00 11 22 33 44 55 66 77 88 99 AA BB CC

FIGURE 96. ASCII string sent by the controller while in R/C or Analog mode

The hexadecimal values and format for each parameter is the same as the response to RS232 queries described in page 142.

Characters are sent by the controller at the rate of one every 8ms. A complete string is sent in 224ms.

Data Logging Cables

The wring diagrams shown in the figures below describe an easy-to-assemble cable assembly for use to create insertion points where to connect the PC for debug and data

170

AX3500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 170

Contents User’s Manual Dual Channel High Power Digital Motor ControllerAX3500 AX3500 Motor Controller User’s Manual Version 1.9b. June 1Date Revision HistoryRevision History VersionAX3500 Motor Controller User’s Manual Revision History General Operation SECTION SECTIONSECTION SECTION SECTION SECTION Programming using built-in Switches and Display AX3500 Motor Controller User’s Manual Do not Connect to a RC Radio with a Battery Attached Important SafetyAvoid Shorts when Mounting Board against Chassis WarningsImportant Safety Warnings Quick Start Locating the Switches and ConnectorsAX3500 What you will needAX3500 Quick Start Connecting to the Batteries and Motors Connecting to the Batteries and MotorsSignal Connecting to the 15-pin ConnectorImportant Warning RC ModeConnecting the R/C Radio Connecting the R/C RadioPowering On the Controller Function Button OperationProg and Set button status Default Values Default Controller ConfigurationDefault Controller Configuration ParameterConnecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision NumberExploring further = Software version 1.9bSECTION 3AX3500 Motor Controller Overview Product DescriptionAutomatic Joystick Command Corrections Technical featuresMultiple Command Modes AX3500 Motor Controller OverviewHigh Efficiency Motor Power Outputs Technical featuresLow Power Consumption Optical Encoder InputsCompact Open Frame PCB Design Advanced Safety FeaturesData Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Controller Power Connecting Power and Motors to the ControllerAnd Main Battery Controller PowerPower Control input is mended Off ConfigurationController Powering Schemes Powering the Controller from a single BatteryPowering the Controller Using a Main and Backup Battery Controller Powering SchemesConnecting the Motors Single Channel Operation Single Channel OperationConverting the AX3500 to Single Channel Power Fuses Electrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Wire Length LimitsOvervoltage Protection Undervoltage ProtectionUsing the Controller with a Power Supply Using the Controller with a Power SupplyVersion 1.9b. June 1 Basic Operation Input Command ModesGeneral Operation Basic OperationOpen Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General OperationSelecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control Position Feedback Position Sensor Gear box User Selected Current Limit SettingsTemperature-Based Current Limitation SettingMotor Current = Battery Current / PWM ratio Battery Current vs. Motor CurrentBattery Current vs. Motor Current TemperatureRegeneration Current Limiting Motor Current = Battery Current / PWM RatioSwitches Programmable AccelerationSetting Using Programmable Acceleration17.97% Command Control Curves15 Hex 0.089 secondExponentiation Parameter Value Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Selected CurveSpeed Adjustment Parameter ValueActivating Brake Release or Separate Motor Excitation Emergency Shut Down Using Controller SwitchesEmergency Stop using External Switch Activating Brake Release or Separate Motor ExcitationUsing the Inputs to turn Off/On the Power MOSFET transistors Special Use of Accessory Digital InputsUsing the Inputs to Activate the Buffered Output Inverted OperationSelf-Test Mode Self-Test ModeEncoder Speed or Position AX3500 Connections Connecting Sensors and Actuators to Input/OutputsAX3500 Connections AX3500’s Inputs and Outputs Connecting Sensors and Actuators to Input/OutputsActivated AX3500’s Inputs and OutputsI/O type Signal depending Pin1I/O List and Pin Assignment Input orConnecting devices to Output C Connecting devices to Output CConnecting Switches or Devices to Input F Important warningConnecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert InputConnecting Position Potentiometers to Analog Inputs Analog InputsAna2 Connecting Tachometer to Analog InputsConnecting Tachometer to Analog Inputs Operating ModeAna 3 p12 Ana 1 p11Ana2 p10 Ana 4 p8Temp oC Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Resistance kOhmUsing the Analog Inputs to Monitor External Voltages Internal Heatsink Temperature Sensors Connecting User Devices to Analog InputsInternal Voltage Monitoring Sensors Connecting User Devices to Analog InputsAnalog Temperature Conversion C Source CodeValue LoTemp = i * 5 Internal Heatsink Temperature Sensorselse HiTemp = LoTemp + 5 lobound = TempTablei hibound = TempTablei+1Version 1.9b. June 1 RC Pulse Output Overview RC Pulses OutputRC Pulse Output Overview Servo Connection to RevA Controllers Connector Location and PinoutConnecting Servos to Controllers RC Pulses OutputConnecting to Slave Controllers Connecting to Slave ControllersServo Connection to RevB Controllers Pulse Width 1.00ms Pulse Timing InformationCommand Value 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 Recommended Encoder Types Connecting and Using the Encoder FunctionPulse Frequency in Hz = RPM / 60 * PPR Connecting the EncoderConnecting the Encoder Name Cable Length and Noise ConsiderationsMotor - Encoder Polarity Matching Cable ColorVoltage Levels, Thresholds and Limit Switches Voltage Levels, Thresholds and Limit SwitchesWiring Optional Limit Switches Wiring Limit Switches Without Encoders Wiring Limit Switches Without EncodersEffect of Limit Switches Motor 1 FwdMotor 2 Fwd Using the Encoder Module to Measure DistanceUsing the Encoder to Measure Speed Motor 2 RevUsing the Encoder to Track Position Using the Encoder to Track PositionImportant Notice The actual formula is as follows Distance = Destination - Counter value / DividerRS232 Communication with the Encoder Module Encoder Testing and Setting Using the PC UtilityRS232 Communication with the Encoder Module Version 1.9b. June 1 Selecting the Position Mode Closed Loop Position ModeMode Description Mode DescriptionPosition Feedback Position Sensor Gear box Position Sensor SelectionSensor Mounting Closed Loop Position ModeFeedback Potentiometer wiring Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiring in Analog Mode Analog Feedback on Single Channel Controllers Feedback Wiring in RC or RS232 Mode on Single Channel ControllersFeedback Wiring in Analog Mode on Single Channel Controllers Analog Feedback on Single Channel ControllersUsing Optical Encoders in Position Mode Sensor and Motor PolarityAdding Safety Limit Switches Important Safety WarningEncoder Error Detection and Protection 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 PID tuning in Position Mode Applied Power = Command Value - Actual Position * Proportional GainVersion 1.9b. June 1 Closed Loop Speed Mode Selecting the Speed ModeTachometer or Encoder Mounting Using Optical Encoder for Speed FeedbackDigital Optical EncodTachometer wiring 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 Possible Display Motor Direction StatusNormal and Fault Condition LED Messages MotorFault Messages Fault MessagesNo Control Rapidly FlashingSelf-Test Display Temporary FaultsPermanent Faults = Software version 1.9b Self-Test DisplayVersion 1.9b. June 1 SECTION 12 R/C Operation Pin1 Connector I/O Pin Assignment R/C ModeSelecting the R/C Input Mode 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 Connecting to a Separately Powered Radio Operating the Controller in R/C modeReception Watchdog Reception WatchdogImportant Notice about PCM Radios R/C Transmitter/Receiver Quality ConsiderationsDeadband Parameter Value Joystick Deadband ProgrammingJoystick Deadband Programming Deadband as Percent of full Joystick TravelLeft/Right Tuning Adjustment Joystick CalibrationAutomatic Joystick Calibration Automatic Joystick CalibrationData Logging in R/C Mode On before entering joystick calibrationTo Controller Data Logging in R/C ModeDB15 Male Version 1.9b. June 1 Analog Control and Operation Connector I/O Pin Assignment Analog Mode Analog Control and OperationConnecting to a Voltage Source Connecting to a Voltage SourceConnecting a Potentiometer Selecting the Potentiometer Value Analog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety 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 Connector I/O Pin Assignment RS232 Mode Serial RS-232 Controls and OperationCable 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 Entering RS232 from R/C or Analog mode Data Logging String in R/C or Analog modeCommand Acknowledgement Commands Acknowledge and Error MessagesRS232 Mode if default Command ErrorCommand Controller Commands and QueriesRS-232 Watchdog TypeQuery Power Applied to Motors Set Motor Command ValueSet Accessory Output Controller Commands and QueriesQuery Amps from Battery to each Motor Channel Syntax?r or ?R Query Analog InputsQuery Heatsink Temperatures ?m or ?MQuery Digital Inputs Query Battery VoltagesReset Controller ExamplesAccessing & Changing Configuration Parameter in Flash Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameterActive after Flash Configuration Parameters ListLocation Access Input Control ModeMotor Control Mode After ResetDefinition Amps LimitAcceleration Input Switches Function Exponentiation on Channel 1 and Channel Left/Right AdjustRC Joystick or Analog Deadband 08 - Channel0B - Encoder Default Encoder Time Base 1 andDefault Encoder Distance Divider 0C - Encoder0F - Proportional Gain Default PID GainsJoystick Min, Max and Center Values 10 - Integral GainReading & Changing Operating Parameters at Runtime Reading & Changing Operating Parameters at RuntimeAccess Read/Write Effective Instantly Operating Modes RegistersRead/Change PID Values 80 - ChannelAddress Access Read/Write Effective Instantly PWM Frequency RegisterController Status Register Fault ConditionModel or Function Controller Identification RegisterCurrent Amps Limit Registers 8B - ChannelRead Encoder Counter RS232 Encoder Command SetSet/Reset Encoder Counters and Destination Registers RS232 Encoder Command Set7 Set Encoder 1 destination register with value in buffer Read Speedq or !Q n 8 Set Encoder 2 destination register with value in bufferRead Speed/Distance Read Encoder Limit Switch StatusRead Distance Switch Important NoteRead / Modify Encoder Module Registers and Parameters n ValueParameter Description SizeEncoder Hardware ID code Switch StatusRegister Description Address *84Counter 1 and Speed or Distance 1 orCounter Read/Write Mailbox Destination Register 1 andTime Base 1 and Distance 1 andSpeed 1 and Encoder ThresholdDefault Value Counter Read Data FormatRC Pulse Outputs Activation 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 Decimal to Hexadecimal Conversion Table AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual 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 Programmable Parameters List Restoring factory defaultsExiting the Parameter Setting Mode This manual is for software version 1.9bcannot be selected using the switches Possible Values defaultFor safety reasons, the modes below Programmable Parameters ListOrder System Requirements SECTION 16 Using the Roborun Configuration UtilityDownloading and Installing the Utility Connecting the Controller to the PC Using the Roborun Configuration Utility1- Program Revision Number Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu Descriptions 2- Controller and Communication Link Information4- File and Program Management Commands Getting On-Screen Help3- Parameter Selection and Setting and Special Functions 5- View Controller Connector PinoutLoading, Changing Controller Parameters Control SettingsLoading, Changing Controller Parameters 1- Controller Input4- Emergency Stop or Invert Switch Select Power Settings3- Input Command Adjustment 5- Effect of Digital Inputs3- Acceleration Setting Analog or R/C Specific SettingsLoading, Changing Controller Parameters 2- Left/Right Adjust 1- DeadbandEncoder Setting and Testing Closed Loop ParametersEncoder Module Parameters Setting Encoder Setting and TestingViewing 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 8- Joystick Enable Logging Data to Disk7- Data Logging and Timer 4- Reset Timer buttonData type/range Connecting a JoystickParameter Header Measured Parameter1- Terminal Screen Using the Console2- Command Entry 4- Send Reset String Viewing and Logging Data in Analog and R/C ModesLoading and Saving Profiles to Disk 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 SoftwareCreating Customized Object Files Updating the Encoder SoftwareCreating 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

Related manuals

Manual 2 pages 10.03 Kb