RoboteQ AX3500 manuals

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RoboteQ AX3500 User Manual

208 pages3.88 Mb

3Revision History
- 5SECTION 1
- SECTION 2
- SECTION 3
- SECTION 4
- 6SECTION 5
- SECTION 6
- 7SECTION 7
- SECTION 8
- SECTION 9
- 8SECTION 10
- SECTION 11
- SECTION 12
- 9SECTION 13
- SECTION 14
- 10SECTION 15
- 11SECTION 16
- SECTION 17
- SECTION 1 Important Safety
13Warnings
- Read this Section First
  - This product is intended for use with rechargeable batteries
  - Avoid Shorts when Mounting Board against Chassis
  - Do not Connect to a RC Radio with a Battery Attached
  - Beware of Motor Runaway in Improperly Closed Loop
15Quick Start
- What you will need
- Locating the Switches and Connectors
- 17Connecting to the Batteries and Motors
- 18Connecting to the 15-pin Connector
- 19Connecting the R/C Radio
- Powering On the Controller
- 20Button Operation
- 21Default Controller Configuration
- 22Connecting the controller to your PC using Roborun
- 23Obtaining the Controllers Software Revision Number
- 24Exploring further
  - = Software version 1.9b
    - SECTION 3 AX3500 Motor
25Controller Overview
- Product Description
- 26Technical features
- 30Controller Power
- 32Controller Powering Schemes
  - Powering the Controller from a single Battery
  - 33Powering the Controller Using a Main and Backup Battery
- 34Connecting the Motors
- 35Single Channel Operation
  - Converting the AX3500 to Single Channel
- 36Power Fu ses
- 37Wire Length Limits
- Electrical Noise Reduction Techniques
- Power Regeneration Considerations
- 38Overvoltage Protection
- Undervoltage Protection
- 39Using the Controller with a Power Supply
41Operation
- Basic Operation
- Input Command Modes
- 42Selecting the Motor Control Modes
  - Open Loop, Separate Speed Control
  - Open Loop, Mixed Speed Control
  - 43Closed Loop Speed Control
  - Close Loop Position Control
- 44User Selected Current Limit Settings
- Temperature-Based Current Limitation
  - Position Sensor Gear box
  - Position Feedback
- 45Battery Current vs. Motor Current
- 46Regeneration Current Limiting
  - Off
  - On
- 47Programmable Acceleration
- 48Command Control Curves
- 49Left / Right Tuning Adjustment
- 51Activating Brake Release or Separate Motor Excitation
- Emergency Shut Down Using Controller Switches
- Emergency Stop using External Switch
- 52Inverted Operation
- Special Use of Accessory Digital Inputs
  - Using the Inputs to Activate the Buffered Output
  - Using the Inputs to turn Off/On the Power MOSFET transistors
- 53Self-Test Mode
  - = Software version 1.9b
    - 54
- 56AX3500s Inputs and Outputs
- 58I/O List and Pin Assignment
- 59Connecting devices to Output C
- 60Connecting Switches or Devices to Input F
- 61Connecting Switches or Devices to EStop/Invert Input
- 62Analog Inputs
- Connecting Position Potentiometers to Analog Inputs
- 63Connecting Tachometer to Analog Inputs
- 65Connecting External Thermistor to Analog Inputs
- 66Using the Analog Inputs to Monitor External Voltages
- 67Connecting User Devices to Analog Inputs
- Internal Voltage Monitoring Sensors
- Internal Heatsink Temperature Sensors
- 68Temperature Conversion C Source Code
  - SECTION 7 RC Pulses
71Output
- RC Pulse Output Overview
- 72Connector Location and Pinout
- Connecting Servos to Controllers
  - Servo Connection to RevA Controllers
  - Servo Connection to RevB Controllers
- 73Connecting to Slave Controllers
- 74Pulse Timing Information
  - Command Value 0 255 Pulse Width 1.00ms 2.00ms
  - 127 1.50ms
- 75RC Channel Testing Using the PC Utility
- 78Recommended Encoder Types
- 79Connecting the Encoder
- 80Cable Length and Noise Considerations
- Motor - Encoder Polarity Matching
- 81Voltage Levels, Thresholds and Limit Switches
- 82Wiring Optional Limit Switches
- 83Wiring Limit Switches Without Encoders
- Effect of Limit Switches
- 84Using the Encoder Module to Measure Distance
- Using the Encoder to Measure Speed
- 85Using the Encoder to Track Position
  - SECTION 9 Closed Loop
89Position Mode
- Selecting the Position Mode
- 90Position Sensor Selection
- Sensor Mounting
  - - Position Sensor Gear box
    - Position Feedback
- 91Important Notice:
  - Feedback Potentiometer wiring
    - Feedback Potentiometer wiring in RC or RS232 Mode
    - 92Feedback Potentiometer wiring in Analog Mode
  - 93Analog Feedback on Single Channel Controllers
    - Feedback Wiring in RC or RS232 Mode on Single Channel Controllers
    - Feedback Wiring in Analog Mode on Single Channel Controllers
  - 94Using Optical Encoders in Position Mode
  - Sensor and Motor Polarity
- 95Important Safety Warning
  - Encoder Error Detection and Protection
  - Adding Safety Limit Switches
  - 97Using Current Limiting as Protection
  - Control Loop Description
98-
- PID tuning in Position Mode
- - 99
  - SECTION 10 Closed Loop
- 101Speed Mode
  - Selecting the Speed Mode
  - 102Using Optical Encoder for Speed Feedback
  - Tachometer or Encoder Mounting
  - Tachometer wiring
  - 103Speed Sensor and Motor Polarity
  - 104Adjust Offset and Max Speed
  - Control Loop Description
- 105-
  - PID tuning in Speed Mode
  - 107Fault Condition LED Messages
    - Use of the LED Display
    - 108Motor Direction Status
    - 109Fault Messages
      - No Control
      - MOSFET Transistors are OFF
      - Temporary Faults
      - Permanent Faults
    - 110Self-Test Display
      - 113SECTION 12 R/C Operation
    - Selecting the R/C Input Mode
    - Connector I/O Pin Assignment (R/C Mode)
    - 114Pin1 8
    - 15
    - 9
      - 115R/C Input Circuit Description
      - Supplied Cable Description
      - 116Powering the Radio from the controller
      - 118Connecting to a Separately Powered Radio
      - Operating the Controller in R/C mode
      - 119Reception Watchdog
    - 120Important Notice about PCM Radios
      - R/C Transmitter/Receiver Quality Considerations
      - 121Joystick Deadband Programming
      - 122Command Control Curves
      - Left/Right Tuning Adjustment
      - Joystick Calibration
      - 123Automatic Joystick Calibration
      - 124Data Logging in R/C Mode
        
        125AX3500 Motor Controller Users Manual 125
        FIGURE 84. Modified R/C cable with RS232 output for data logging to a PC
        SECTION 13 Analog Control
  - 127and Operation
    - 128Connector I/O Pin Assignment (Analog Mode)
    - 129Connecting to a Voltage Source
    - Connecting a Potentiometer
    - 130Selecting the Potentiometer Value
    - 131Analog Deadband Adjustment
    - 132Power-On Safety
    - Under Voltage Safety
    - Data Logging in Analog Mode
      - 133
  - 135Controls and Operation
    - Use and benefits of RS232
    - 136Connector I/O Pin Assignment (RS232 Mode)
    - 137Cable configuration
      - TX Data
    - Extending the RS232 Cable
      - RX Data Data Out Data In GNDGND
      - DB9 Female To PC
      - DB15 Male To Controller
    - 138Communication 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
      - 139RS232 Communication with the Encoder Module
      - 140Entering RS232 from R/C or Analog mode
      - Data Logging String in R/C or Analog mode
      - RS232 Mode if default
    - 141Commands Acknowledge and Error Messages
      - Character Echo
      - Command Acknowledgement
      - Command Error
      - Watchdog time-out
    - 142RS-232 Watchdog
    - Controller Commands and Queries
      - 143Set Motor Command Value
      - Set Accessory Output
      - Query Power Applied to Motors
      - 144Query Amps from Battery to each Motor Channel
      - 145Query Analog Inputs
      - Query Heatsink Temperatures
      - 146Query Battery Voltages
      - Query Digital Inputs
      - Reset Controller
    - 147Accessing & Changing Configuration Parameter in Flash
      - Apply Parameter Changes
      - 148Flash Configuration Parameters List
      - 149Input Control Mode
      - Motor Control Mode
      - 150Amps Limit
      - Acceleration
      - 151Input Switches Function
      - 152RC Joystick or Analog Deadband
      - Exponentiation on Channel 1 and Channel 2
      - Left/Right Adjust
      - 153Default Encoder Time Base 1 and 2
      - Default Encoder Distance Divider
      - 154Default PID Gains
      - Joystick Min, Max and Center Values
    - 155Reading & Changing Operating Parameters at Runtime
    - 156Important Notice:
      - Operating Modes Registers
      - Read/Change PID Values
      - 157PWM Frequency Register
      - Controller Status Register
      - 158Controller Identification Register
      - Current Amps Limit Registers
      - 159RS232 Encoder Command Set
        Read Encoder Counter
        Set/Reset Encoder Counters and Destination Registers
        160Read Speed
        161Read Distance
        Read Speed/Distance
        Read Encoder Limit Switch Status
        Read / Modify Encoder Module Registers and Parameters
    - 162Important Note
      - 164Register Description
        Encoder Hardware ID code
        Switch Status
        165Speed or Distance 1 or 2
        Counter Read/Write Mailbox
        Counter 1 and 2
        Destination Register 1 and 2
        166Distance 1 and 2
        Speed 1 and 2
        Time Base 1 and 2
        Encoder Threshold
        Distance Divider
        RC Pulse Outputs Activation
      - 167Counter Read Data Format
      - 168Encoder Testing and Setting Using the PC Utility
      - 169Automatic Switching from RS232 to RC Mode
    - 170: 00 11 22 33 44 55 66 77 88 99 AA BB CC
      - Analog and R/C Modes Data Logging String Format
      - Data Logging Cables
      - 171Decimal to Hexadecimal Conversion Table
        SECTION 15 Configuring the
  - 175Controller using the Switches
    - Programming Methods
    - Programming using built-in Switches and Display
      - 176Entering Programming Mode
      - 177Changing parameters
      - The Special Case of Joystick Calibration
      - Restoring factory defaults
      - Exiting the Parameter Setting Mode
    - 178Programmable Parameters List
  - 181Configuration Utility
    - System Requirements
    - Downloading and Installing the Utility
    - 182Connecting the Controller to the PC
    - 183Roborun Frame, Tab and Menu Descriptions
    - 184Getting On-Screen Help
    - 185Loading, Changing Controller Parameters
      - Control Settings
      - 186Power Settings
      - 187Analog or R/C Specific Settings
      - Closed Loop Parameters
    - 188Encoder Setting and Testing
      - 189Encoder Module Parameters Setting
      - Exercising the Motors
      - Viewing Encoder Data
    - 190RC Output Testing
    - 191Running the Motors
      - 194Logging Data to Disk
      - 195Connecting a Joystick
    - 196Using the Console
    - 197Viewing and Logging Data in Analog and R/C Modes
    - Loading and Saving Profiles to Disk
    - 198Operating the AX3500 over a Wired or Wireless LAN
    - 199Updating the Controllers Software
      - Updating the Encoder Software
    - 200Creating Customized Object Files
      - SECTION 17 Mechanical
  - 203Specifications
    - Mechanical Dimensions
    - 204Mounting Considerations
    - Thermal Considerations
    - 205Attaching the Controller Directly to a Chassis
      - 206Precautions to observe

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RoboteQ AX3500 Manual

2 pages650.03 Kb

Also you can find more RoboteQ manuals or manuals for other Computer Equipment.