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RoboteQ AX2550/2850 user manual 152

Models: AX2550/2850

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	Viewing Encoder Data 152
	Updating the Encoder Software			152
SECTION 13	Configuring the Controller using the Switches						153
	Programming Methods		153
	Programming using built-in Switches and Display 153
	Entering Programming Mode			154
	Changing parameters		155
	The Special Case of Joystick Calibration						155
	Restoring factory defaults 155
	Exiting the Parameter Setting Mode					156
	Programmable Parameters List			156
SECTION 14	Using the Roborun Configuration Utility				159
	System Requirements		159
	Downloading and Installing the Utility				159
	Connecting the Controller to the PC				160
	Roborun Frame, Tab and Menu Descriptions						161
	Getting On-Screen Help		162
	Loading, Changing Controller Parameters					162
	Controls Settings	163
	Power Settings	164

Analog or R/C Specific Settings		165
Closed Loop Parameters	166
Viewing the Parameters Summary		166
Optical Encoder Operation	167
Running the Motors 167

	Logging Data to Disk	170
	Connecting a Joystick	171
	Viewing and Logging Data in Analog and R/C Modes 172
	Loading and Saving Profiles to Disk		172
	Operating the AX2500/2850 over a Wired or Wireless LAN 172
	Updating the Controller’s Software		174
	Creating Customized Object Files		174
SECTION 15	Mechanical Specifications	177

Mechanical Dimensions 177

Mounting Considerations 178

Thermal Considerations 178

Wire Dimensions 179

Weight 179

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AX2500/2850 Motor Controller User’s Manual

Version 1.7. February 1, 2005

Image 10

RoboteQ AX2550/2850 user manual 152

Contents

Dual Channel High Power Digital Motor Controller AX2550/2850Revision History Date Version ChangesRevision History AX2550/2850 Motor Controller User’s Manual Section Section Self-Test Display 104 124 152 AX2500/2850 Quick Start What you will needLocating Switches, Wires and Connectors AX2500/2850 Quick StartConnecting to the Batteries and Motors Connecting to the Batteries and MotorsConnecting the R/C Radio Using the Power Control WirePower Control input connected to Action Powering On the Controller Powering On the ControllerButton Operation Prog and Set button status FunctionDefault Controller Configuration Default Controller ConfigurationChecking and Changing Configurations Parameter Default Values LetterConnecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision NumberExploring further AX2500/2850 Motor Controller Overview Product DescriptionTechnical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Optical Encoder Inputs AX2850 onlyData Logging Capabilities Advanced Safety FeaturesSturdy and Compact Mechanical Design Connecting Power Connecting Power and Motors to the ControllerConnecting Power Controller Power Connecting Power and Motors to the ControllerController Power TwoPowering the Controller using the Motor Batteries Using a Backup Battery Powering the controller from the Motor BatteriesPower Fuses Wire Length LimitsElectrical Noise Reduction Techniques Power Regeneration ConsiderationsElectrical Noise Reduction Techniques Overvoltage Protection Using the Controller with a Power SupplyUndervoltage Protection Using the Controller with a Power Supply Connecting Power and Motors to the Controller Basic Operation Input Command ModesGeneral Operation Basic OperationOpen Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General OperationClose Loop Position Control Closed Loop Speed ControlSelecting the Motor Control Modes Setting Continuous High Amps Current Limit SettingsContinuous and Extended Current Limitation Temperature-Based Current Limitation Temperature-Based Current LimitationSetting Continuous High Amps Extended Safe Amps Regeneration Current Limiting Surge Current ProtectionProgrammable Acceleration Programmable Acceleration Command Control Curves Exponentiation curvesLeft / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Emergency Shut Down Using Controller Switches Parameter Value Speed AdjustmentEmergency Stop using External Switch Emergency Stop using External SwitchInverted Operation Self-Test Mode Special Use of Accessory Digital InputsUsing the Inputs to Activate the Buffered Output Self-Test Mode General Operation AX2500/2850 Connections Connecting Sensors and Actuators to Input/OutputsAX2500/2850 Connections Connecting Sensors and Actuators to Input/Outputs AX2500/2850’s Inputs and Outputs Signal Type Use ActivatedAX2500/2850’s Inputs and Outputs Pin Wire Input or Number Color Output Signal Description List and Pin AssignmentConnecting devices to Output C Connecting devices to Output CConnecting devices to Output D Connecting external Mosfet and load to Output DConnecting Switches or Devices to Input E Connecting Switches or Devices to Input FConnecting Switches or Devices to EStop/Invert Input Show how to wire the switch to this inputConnecting Position Potentiometers to Analog Inputs Connecting Position Potentiometers to Analog InputsConnecting Tachometer to Analog Inputs Potentiometer wiring in Position modeTemp oC Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Resistance kOhmUsing the Analog Inputs to Monitor External Voltages NTCConnecting User Devices to Analog Inputs Connecting User Devices to Analog InputsMeasured volts = controller reading + 128 * 0.255 Internal Heatsink Temperature Sensors Internal Voltage Monitoring SensorsTemperature Conversion C Source Code Temperature Conversion C Source CodeConnecting Sensors and Actuators to Input/Outputs Use of the LED Display Normal Fault Condition LED MessagesUse of the LED Display Motor Direction Status Normal and Fault Condition LED MessagesPossible Display Motor Comment Fault Messages Fault MessagesNo Control Self-Test Display Emergency StopMode Description Mode DescriptionOperation Typical Wiring Selecting the R/C Input ModeOperation Connector I/O Pin Assignment R/C Mode Connector I/O Pin Assignment R/C ModePin Input or Number Signal Output Description Input Circuit Description Supplied Cable Description Supplied Cable DescriptionCabling to R/C Receiver using Full Opto-Isolation Cabling to R/C Receiver with Partial Opto-Isolation Cabling to R/C Receiver with Partial Opto-IsolationPowering the Radio from the controller Partial opto-isolation with Channel 3 electrical diagramPowering the Radio from the controller Wiring for powering R/C radio from controllerOperating the Controller in R/C mode Joystick position vs. pulse duration default valuesTransmitter/Receiver Quality Considerations Reception WatchdogReception Watchdog Joystick Deadband Programming Command Control Curves Left/Right Tuning AdjustmentJoystick Calibration Automatic Joystick Calibration Activating the Accessory Outputs Activating the Accessory OutputsData Logging in R/C Mode Using Channel 3 to activate accessory outputsData Logging in R/C Mode Operation Use and benefits of RS232 Serial RS-232 Controls OperationUse and benefits of RS232 Must be wired to pin Connector I/O Pin Assignment RS232 ModeMust be wired to pin 13 or pin Serial RS-232 Controls and OperationCable configuration Cable configurationExtending the RS232 Cable 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 Entering RS232 from R/C or Analog modeData Logging String in R/C or Analog mode Roboteq v1.7 02/01/05 sRS232 Mode if default RS232 Commands SetSet Motor Command Value RS232 Commands Set B7F Set Accessory OutputsQuery Power Applied to Motors A3FQuery Amps Consumed by Motors Query Analog InputsRS232 Commands Set Query Heatsink TemperaturesQuery Battery Voltages Query Digital InputsRead parameter Read and Modify Controller SettingsModify parameter Reset Controller Optical Encoder CommandsCommands Acknowledge and Error Messages Apply Parameter ChangesRS-232 Watchdog Command AcknowledgementCommand Error Watchdog time-outRS232 Accessible Parameter Table RS232 Accessible Parameter TablePID Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeAnalog and R/C Modes Data Logging String Format Data Logging Cables Data Logging CablesDecimal to Hexadecimal Conversion Table Dec HexDecimal to Hexadecimal Conversion Table 106 Analog Control and Operation Analog Control and Operation Connector I/O Pin Assignment Analog ModeUnused Connecting a Potentiometer Connecting to a Voltage SourceConnecting to a Voltage Source Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentUnder Voltage Safety Power-On SafetyData Logging in Analog Mode Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC114 Closed Loop Position Mode Selecting the Position ModePosition Sensor Selection Closed Loop Position ModeSensor Mounting Potentiometer wiring Potentiometer wiringUsing Optical Encoders in Position Mode Sensor and Motor PolarityImportant Safety Warning Adding Safety Limit Switches Safety limit switches interrupting power to motorsUsing Current Limiting as Protection Control Loop DescriptionControl Loop Description PID tuning in Position Mode Closed Loop Speed Mode Selecting the Speed ModeClosed Loop Speed Mode Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Tachometer or Encoder MountingSpeed Sensor and Motor Polarity Speed Sensor and Motor PolarityAdjust Offset and Max Speed AX2500/2850 Motor Controller User’s Manual 127 PID tuning in Speed Mode PID algorithm used in Speed modePID tuning in Speed Mode 130 Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical Incremental Encoders Overview Installing, Connecting and Using the Encoder Mod Recommended Encoder TypesInstalling the Encoder Module Installing the Encoder ModulePulse Frequency in Hz = RPM / 60 * PPR Position of Encoder Module on Controller’s main board Connecting the Encoder Connecting the EncoderPin Name Cable Color Voltage Levels, Thresholds and Limit Switches Motor Encoder Polarity MatchingWiring Optional Limit Switches Wiring Optional Limit SwitchesUsing the Encoder Module to Measure Distance Using the Encoder to Measure Speed Using the Encoder to Measure SpeedUsing the Encoder to Track Position Distance = Destination Counter value / DividerRS232 Communication with the Encoder Module ?q or Q n RS232 Encoder Command SetRead Encoder Counter ?Q0Read Speed Set/Reset Encoder Counters and Destination RegistersRS232 Encoder Command Set Or !Q nRead Distance Read Encoder Limit Switch StatusRead Speed/Distance Read / Modify Encoder Module Registers and Parameters Switch Value?w or ?W Address Parameter Description Size Access Controller replies, value isRegister Description Encoder Hardware ID codeCounter Read/Write Mailbox Switch StatusSpeed or Distance 1 or Counter 1Time Base 1 Counter Read Data FormatSpeed 1 Encoder ThresholdEncoder Testing and Setting Using the PC Utility FFFFFF15Encoder Module Parameters Setting Encoder Testing and Setting Using the PC UtilityExercising the Motors Updating the Encoder SoftwareViewing Encoder Data Programming using built-in Switches and Display Configuring Controller using SwitchesProgramming Methods Entering Programming Mode Configuring the Controller using the SwitchesChanging parameters Restoring factory defaultsSpecial Case of Joystick Calibration Exiting the Parameter Setting Mode Programmable Parameters ListOrder Letter Description Possible Values default Pages Programmable Parameters List158 Downloading and Installing the Utility Using the Roborun Configuration UtilitySystem Requirements Connecting the Controller to the PC Using the Roborun Configuration UtilityRoborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu DescriptionsGetting On-Screen Help Parameter Selection and Setting, and Special FunctionsFile and Program Management Commands Loading, Changing Controller ParametersControls Settings Acceleration Setting Power SettingsLeft/Right Adjust Effect of Digital InputsDeadband Analog or R/C Specific SettingsJoystick Timing Viewing the Parameters Summary Closed Loop ParametersRunning the Motors Optical Encoder OperationOptical Encoder Operation Run/Stop Button Motor Power settingMeasurement Running the Motors Real-Time Strip Chart RecorderInput Status and Output Setting Transmit and Receive DataLogging Data to Disk Connecting a Joystick Parameter Header Data type/range Measured ParameterViewing and Logging Data in Analog and R/C Modes Operating the AX2500/2850 over a Wired or Wireless LANLoading and Saving Profiles to Disk Operating the AX2500/2850 over a Wired or Wireless LAN Roboserver screenshot when idleUpdating the Controller’s Software Creating Customized Object FilesObjectmaker creates controller firmware with custom defaults Creating Customized Object Files176 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mounting Considerations Mechanical SpecificationsThermal Considerations Wire Dimensions Wire DimensionsWeight Wire Gauge Outside Diameter Color Length180