RoboteQ AX3500 user manual General Operation

SECTION 5	General Operation	41
	Basic Operation	41
	Input Command Modes		41
	Selecting the Motor Control Modes					42
	Open Loop, Separate Speed Control						42
	Open Loop, Mixed Speed Control					42
	Closed Loop Speed Control				43
	Close Loop Position Control				43
	User Selected Current Limit Settings					44
	Temperature-Based Current Limitation 44
	Battery Current vs. Motor Current 45
	Regeneration Current Limiting				46
	Programmable Acceleration			47
	Command Control Curves		48
	Left / Right Tuning Adjustment				49
	Activating Brake Release or Separate Motor Excitation									51
	Emergency Shut Down Using Controller Switches								51
	Emergency Stop using External Switch						51
	Inverted Operation 52
	Special Use of Accessory Digital Inputs						52
	Using the Inputs to Activate the Buffered Output									52
	Using the Inputs to turn Off/On the Power MOSFET
	transistors	53
	Self-Test Mode	53
SECTION 6	Connecting Sensors and Actuators to Input/Outputs								55
	AX3500 Connections 55
	AX3500’s Inputs and Outputs			56
	I/O List and Pin Assignment			58
	Connecting devices to Output C				59
	Connecting Switches or Devices to Input F							60
	Connecting Switches or Devices to EStop/Invert Input									61
	Analog Inputs	62
	Connecting Position Potentiometers to Analog Inputs									62
	Connecting Tachometer to Analog Inputs						63
	Connecting External Thermistor to Analog Inputs								65
	Using the Analog Inputs to Monitor External Voltages									66
	Connecting User Devices to Analog Inputs							67
	Internal Voltage Monitoring Sensors					67
	Internal Heatsink Temperature Sensors						67

6 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007