RoboteQ AX2550/2850 manuals

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RoboteQ AX2550/2850 User Manual

180 pages3.7 Mb

2Revision History
- 5SECTION 1
- SECTION 2
- SECTION 3
- SECTION 4
- 6SECTION 5
- SECTION 6
- 7SECTION 7
- SECTION 8
- 8SECTION 9
- SECTION 10
- SECTION 11
- 9SECTION 12
- 10SECTION 13
- SECTION 14
- SECTION 15
11Quick Start
- Important Safety Warnings
- This product is intended for use with recharge able ba tteries
  - What you will need
  - 12Locating Switches, Wires and Connectors
  - 13Connecting to the Batteries and Motors
  - 14Using the Power Control Wire
  - Connecting the R/C Radio
  - 15Powering On the Controller
  - 16Button Operation
  - 17Default Controller Configuration
  - Checking and Changing Configuration s
  - 18Connecting the controller to your PC using Roborun
  - 19Obtaining the Controllers Software Revision Number
  - 20Exploring further
    - = Software version 1.7
      - SECTION 2 AX2500/2850
21Motor Controller Overview
- Product Description
- 22Technical features
- 26Controller Power
  - 28Powering the Controller using the Motor Batteries
  - 29Using a Backup Battery
- 30Power Fu ses
- Wire Length Limits
- 31Electrical Noise Reduction Techniques
- Power Regeneration Considerations
- 32Overvoltage Protection
- Undervoltage Protection
- Using the Controller with a Power Supply
  - 33
35Operation
- Basic Operation
- Input Command Modes
- 36Selecting the Motor Control Modes
  - Open Loop, Separate Speed Control
  - Open Loop, Mixed Speed Control
  - 37Closed Loop Speed Control
  - Close Loop Position Control
    - Tachometer or Optical Encoder (AX2850 & AX3500 only) Speed Feedback
- 38Current Limit Settings
- Continuous and Extended Current Lim itation
  - Position Sensor Gear box
  - Position Feedback
- 39Temperature-Based Current Limitation
- 40Surge Current Protection
- Regeneration Current Limiting
- Programmable Acceleration
- 42Command Control Curves
- 43Left / Right Tuning Adjustment
- 44Emergency Shut Down Using Controller Switches
- 45Emergency Stop using External Switch
- Inverted Operation
- 46Special Use of Accessory Digital Inputs
  - Using the Inputs to Activate the Buffered Output
  - Using the Inputs to turn Off/On the Power MOSFET transistors
- Self-Test Mode
  - 47= Software version 1.7
- 51AX2500/2850s Inputs and Outputs
- 52I/O List and Pin Assignment
- 53Connecting devices to Output C
- 54Connecting devices to Output D
- 55Connecting Switches or Devices to Input E
- Connecting Switches or Devices to Input F
- 56Connecting Switches or Devices to EStop/Invert Input
- 57Connecting Position Potentiometers to Analog Inputs
- 58Connecting Tachometer to Analog Inputs
- 59Connecting External Thermistor to Analog Inputs
- 60Using the Analog Inputs to Monitor External Voltages
- 61Connecting User Devices to Analog Inputs
- 62Internal Voltage Monitoring Sensors
- Internal Heatsink Temperature Sensors
  - AX2500/2850 Motor Controller Users Manual 63
  - Temperature Conversion C Source Code
  - FIGURE 35. Analog reading by controller vs. internal heat sink temperature
    - Temperature in Degrees C
- 63Temperature Conversion C Source Code
  - Reported Analog Value
65Fault Condition LED Messages
- Use of the LED Display
- 66Motor Direction Status
- 67Fault Messages
  - No Control
  - MOSFET Transistors are OFF
  - Emergency Stop
- 68Self-Test Display
  - = Software version 1.7 = Software version 2.0.c
  - 69SECTION 7 R/C Operation
- 70Selecting the R/C Input Mode
- Typical Wiring
- Connector I/O Pin Assignment (R/C Mode)
- 71Pin1 8
- 15
- 9
- 79Important Notice about PCM Radios
  - R/C Transmitter/Receiver Quality Considerations
  - 80Joystick Deadband Programming
  - 81Command Control Curves
  - Left/Right Tuning Adjustment
  - Joystick Calibration
  - 82Automatic Joystick Calibration
  - 83Activating the Accessory Outputs
  - 84Data Logging in R/C Mode
    - 85AX2500/2850 Motor Controller Users Manual 85
    - Data Logging in R/C Mode
    - FIGURE 56. Modified R/C cable with RS232 output for data logging to a PDA
      - GND
        GND
        RX Data RS232 Data Out GND
        R/C Ch 1 R/C Ch 2 R/C GND R/C +5V
        DB9 Female To PC
        DB15 Male To AX2550
    - FIGURE 55. Modified R/C cable with RS232 output for data logging to a PC
      - RX Data RS232 Data Out GND
      - R/C Ch 1 R/C Ch 2 R/C GND R/C +5V
      - DB9 Male To PDA
      - DB15 Male To AX2550
87Controls and Operation
- Use and benefits of RS232
- 88Connector I/O Pin Assignment (RS232 Mode)
- 89Cable configuration
  - TX Data
- Extending the RS232 Cable
  - RX Data Data Out Data In GNDGND
  - DB9 Female To PC
  - DB15 Male To AX2500
- 90Communication Settings
  - TX Data
- 9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity
- Establishing Manual Communication with a PC
  - RX Data Data Out Data In GNDGND
  - DB9 Female DB9 Male
  - 91Entering RS232 from R/C or Analog mode
  - Data Logging String in R/C or Analog mode
  - RS232 Mode if default
- 92RS232 Commands Set
  - Set Motor Command Value
  - 93Set Accessory Outputs
  - Query Power Applied to Motors
  - 94Query Amps Consumed by Motors
  - Query Analog Inputs
  - 95Query Heatsink Temperatures
  - Query Battery Voltages
  - Query Digital Inputs
  - 96Read and Modify Controller Settings
  - Apply Parameter Changes
  - Reset Controller
- 97Optical Encoder Commands
- Commands Acknowledge and Error Messages
  - Character Echo
  - Command Acknowledgement
  - Command Error
  - Watchdog time-out
- 98RS-232 Watchdog
- 99RS232 Accessible Parameter Table
- 101Automatic Switching from RS232 to RC Mode
- 102Analog and R/C Modes Data Logging String Format
- 103: 00 11 22 33 44 55 66 77 88 99 AA BB CC
  - Data Logging Cables
  - 104Decimal to Hexadecimal Conversion Table
    - SECTION 9 Analog Control
107and Operation
- 108Connector I/O Pin Assignment (Analog Mode)
- 109Connecting to a Voltage Source
- Connecting a Potentiometer
- 110Selecting the Potentiometer Value
- 111Analog Deadband Adjustment
- 112Power-On Safety
- Under Voltage Safety
- Data Logging in Analog Mode
  - 113
  - SECTION 10 Closed Loop
115Position Mode
- Selecting the Position Mode
- 116Position Sensor Selection
- Sensor Mounting
  - Position Sensor Gear box
  - Position Feedback
- 117Important Notice:
  - Potentiometer wiring
  - Using Optical Encoders in Position Mode
  - Sensor and Motor Polarity
- 118Important Safety Warning
  - 119Adding Safety Limit Switches
  - 120Using Current Limiting as Protection
  - Control Loop Description
121-
- - 122PID tuning in Position Mode
    - SECTION 11 Closed Loop
- 123Speed Mode
  - Selecting the Speed Mode
  - 124Using Optical Encoder for Speed Feedback (AX2850 only)
  - Tachometer or Encoder Mounting
  - Tachometer wiring
    - Tachometer or Optical Encoder (AX2850 & AX3500 only) Speed Feedback
  - 125Speed Sensor and Motor Polarity
  - 126Adjust Offset and Max Speed
  - 127Control Loop Description
- 128-
  - PID tuning in Speed Mode
  - - SECTION 12 Installing,
  - 131Connecting and Using the Encoder Module
    - Optical Incremental Encoders Overview
    - 132Recommended Encoder Types
    - 133Installing the Encoder Module
    - 135Connecting the Encoder
    - 136Motor - Encoder Polarity Matching
    - Voltage Levels, Thresholds and Limit Switches
    - 137Wiring Optional Limit Switches
    - 138Using the Encoder Module to Measure Distance
    - 139Using the Encoder to Measure Speed
    - 140Using the Encoder to Track Position
    - 141RS232 Communication with the Encoder Module
    - 142RS232 Encoder Command Set
      - Read Encoder Counter
      - 143Set/Reset Encoder Counters and Destination Registers
      - Read Speed
      - 144Read Distance
      - Read Speed/Distance
      - Read Encoder Limit Switch Status
      - Read / Modify Encoder Module Registers and Parameters
    - 145Important Note
      - 147Register Description
        Encoder Hardware ID code
        148Switch Status
        Speed or Distance 1 or 2
        Counter Read/Write Mailbox
        Counter 1 and 2
        Destination Register 1 and 2
        Distance 1 and 2
        Speed 1 and 2
        Time Base 1 and 2
        Encoder Threshold
      - 149Counter Read Data Format
      - 150Encoder Testing and Setting Using the PC Utility
        
        151Encoder Module Parameters Setting
        Exercising the Motors
        Viewing Encoder Data
      - 152Updating the Encoder Software
        SECTION 13 Configuring the
  - 153Controller using the Switches
    - Programming Methods
    - Programming using built-in Switches and Display
      - 154Entering Programming Mode
      - 155Changing parameters
      - The Special Case of Joystick Calibration
      - Restoring factory defaults
      - Exiting the Parameter Setting Mode
    - 156Programmable Parameters List
  - 159Configuration Utility
    - System Requirements
    - Downloading and Installing the Utility
    - 160Connecting the Controller to the PC
    - 161Roborun Frame, Tab and Menu Descriptions
    - 162Getting On-Screen Help
    - Loading, Changing Controller Parameters
      - 163Controls Settings
      - 164Power Settings
      - 165Analog or R/C Specific Settings
      - Closed Loop Parameters
    - Viewing the Parameters Summary
    - 166Important Notes:
      - 170Logging Data to Disk
      - 171Connecting a Joystick
      - 172Viewing and Logging Data in Analog and R/C Modes
      - Loading and Saving Profiles to Disk
      - Operating the AX2500/2850 over a Wired or Wireless LAN
      - 174Updating the Controllers Software
      - Creating Customized Object Files
        SECTION 15 Mechanical
  - 177Specifications
    - Mechanical Dimensions
    - 178Mounting Considerations
    - Thermal Considerations
    - 179Wire Dimensions
    - Weight

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