106 | RoboteQ AX2550/2850 instruction

Serial (RS-232) Controls and Operation

TABLE 20. +128 to 255 unsigned and -1 to -128 signed decimal to hexadecimal conversion table

UDec	Dec	Hex	UDec	Dec	Hex	UDec	Dec	Hex	UDec	Dec	Hex

-120	136	88	-88	168	A8	-56	200	C8	-24	232	E8

-119	137	89	-87	169	A9	-55	201	C9	-23	233	E9

-118	138	8A	-86	170	AA	-54	202	CA	-22	234	EA

-117	139	8B	-85	171	AB	-53	203	CB	-21	235	EB

-116	140	8C	-84	172	AC	-52	204	CC	-20	236	EC

-115	141	8D	-83	173	AD	-51	205	CD	-19	237	ED

-114	142	8E	-82	174	AE	-50	206	CE	-18	238	EE

-113	143	8F	-81	175	AF	-49	207	CF	-17	239	EF

-112	144	90	-80	176	B0	-48	208	D0	-16	240	F0

-111	145	91	-79	177	B1	-47	209	D1	-15	241	F1

-110	146	92	-78	178	B2	-46	210	D2	-14	242	F2

-109	147	93	-77	179	B3	-45	211	D3	-13	243	F3

-108	148	94	-76	180	B4	-44	212	D4	-12	244	F4

-107	149	95	-75	181	B5	-43	213	D5	-11	245	F5

-106	150	96	-74	182	B6	-42	214	D6	-10	246	F6

-105	151	97	-73	183	B7	-41	215	D7	-9	247	F7

-104	152	98	-72	184	B8	-40	216	D8	-8	248	F8

-103	153	99	-71	185	B9	-39	217	D9	-7	249	F9

-102	154	9A	-70	186	BA	-38	218	DA	-6	250	FA

-101	155	9B	-69	187	BB	-37	219	DB	-5	251	FB

-100	156	9C	-68	188	BC	-36	220	DC	-4	252	FC

-99	157	9D	-67	189	BD	-35	221	DD	-3	253	FD

-98	158	9E	-66	190	BE	-34	222	DE	-2	254	FE

-97	159	9F	-65	191	BF	-33	223	DF	-1	255	FF

106

AX2500/2850 Motor Controller User’s Manual

Version 1.7. February 1, 2005

Image 106

RoboteQ AX2550/2850 user manual 106

Contents

Dual Channel High Power Digital Motor Controller AX2550/2850 Revision History Date Version Changes Revision History AX2550/2850 Motor Controller User’s Manual Section Section Self-Test Display 104 124 152 AX2500/2850 Quick Start What you will need Locating Switches, Wires and Connectors AX2500/2850 Quick Start Connecting to the Batteries and Motors Connecting to the Batteries and Motors Connecting the R/C Radio Using the Power Control WirePower Control input connected to Action Powering On the Controller Powering On the Controller Button Operation Prog and Set button status Function Default Controller Configuration Default Controller ConfigurationChecking and Changing Configurations Parameter Default Values Letter Connecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision Number Exploring further AX2500/2850 Motor Controller Overview Product Description Technical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Optical Encoder Inputs AX2850 only Data 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 Controller Controller Power Two Powering the Controller using the Motor Batteries Using a Backup Battery Powering the controller from the Motor Batteries Power Fuses Wire Length Limits Electrical 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 Operation Open Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General Operation Close 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 curves Left / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Emergency Shut Down Using Controller Switches Parameter Value Speed Adjustment Emergency 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 Assignment Connecting devices to Output C Connecting devices to Output C Connecting devices to Output D Connecting external Mosfet and load to Output D Connecting Switches or Devices to Input E Connecting Switches or Devices to Input F Connecting Switches or Devices to EStop/Invert Input Show how to wire the switch to this input Connecting Position Potentiometers to Analog Inputs Connecting Position Potentiometers to Analog Inputs Connecting Tachometer to Analog Inputs Potentiometer wiring in Position mode Temp oC Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Resistance kOhm Using the Analog Inputs to Monitor External Voltages NTC Connecting User Devices to Analog Inputs Connecting User Devices to Analog InputsMeasured volts = controller reading + 128 * 0.255 Internal Heatsink Temperature Sensors Internal Voltage Monitoring Sensors Temperature Conversion C Source Code Temperature Conversion C Source Code Connecting 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 Stop Mode 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 Description Cabling 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-Isolation Powering the Radio from the controller Partial opto-isolation with Channel 3 electrical diagram Powering the Radio from the controller Wiring for powering R/C radio from controller Operating the Controller in R/C mode Joystick position vs. pulse duration default values Transmitter/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 Outputs Data Logging in R/C Mode Using Channel 3 to activate accessory outputs Data 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 Operation Cable 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 s RS232 Mode if default RS232 Commands SetSet Motor Command Value RS232 Commands Set B7F Set Accessory OutputsQuery Power Applied to Motors A3F Query Amps Consumed by Motors Query Analog Inputs RS232 Commands Set Query Heatsink TemperaturesQuery Battery Voltages Query Digital Inputs Read parameter Read and Modify Controller SettingsModify parameter Reset Controller Optical Encoder CommandsCommands Acknowledge and Error Messages Apply Parameter Changes RS-232 Watchdog Command AcknowledgementCommand Error Watchdog time-out RS232 Accessible Parameter Table RS232 Accessible Parameter Table PID Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC Mode Analog and R/C Modes Data Logging String Format Data Logging Cables Data Logging Cables Decimal to Hexadecimal Conversion Table Dec Hex Decimal 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 = 5mA Analog Deadband Adjustment Analog Deadband Adjustment Under Voltage Safety Power-On SafetyData Logging in Analog Mode Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC 114 Closed Loop Position Mode Selecting the Position Mode Position Sensor Selection Closed Loop Position ModeSensor Mounting Potentiometer wiring Potentiometer wiringUsing Optical Encoders in Position Mode Sensor and Motor Polarity Important Safety Warning Adding Safety Limit Switches Safety limit switches interrupting power to motors Using Current Limiting as Protection Control Loop Description Control Loop Description PID tuning in Position Mode Closed Loop Speed Mode Selecting the Speed Mode Closed Loop Speed Mode Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Tachometer or Encoder Mounting Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity Adjust Offset and Max Speed AX2500/2850 Motor Controller User’s Manual 127 PID tuning in Speed Mode PID algorithm used in Speed mode PID 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 Types Installing 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 Matching Wiring Optional Limit Switches Wiring Optional Limit Switches Using the Encoder Module to Measure Distance Using the Encoder to Measure Speed Using the Encoder to Measure Speed Using the Encoder to Track Position Distance = Destination Counter value / Divider RS232 Communication with the Encoder Module ?q or Q n RS232 Encoder Command SetRead Encoder Counter ?Q0 Read Speed Set/Reset Encoder Counters and Destination RegistersRS232 Encoder Command Set Or !Q n Read 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 is Register Description Encoder Hardware ID code Counter Read/Write Mailbox Switch StatusSpeed or Distance 1 or Counter 1 Time Base 1 Counter Read Data FormatSpeed 1 Encoder Threshold Encoder Testing and Setting Using the PC Utility FFFFFF15 Encoder Module Parameters Setting Encoder Testing and Setting Using the PC Utility Exercising 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 Switches Changing parameters Restoring factory defaultsSpecial Case of Joystick Calibration Exiting the Parameter Setting Mode Programmable Parameters List Order Letter Description Possible Values default Pages Programmable Parameters List 158 Downloading and Installing the Utility Using the Roborun Configuration UtilitySystem Requirements Connecting the Controller to the PC Using the Roborun Configuration Utility Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions Getting On-Screen Help Parameter Selection and Setting, and Special FunctionsFile and Program Management Commands Loading, Changing Controller Parameters Controls Settings Acceleration Setting Power SettingsLeft/Right Adjust Effect of Digital Inputs Deadband Analog or R/C Specific SettingsJoystick Timing Viewing the Parameters Summary Closed Loop Parameters Running 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 Data Logging Data to Disk Connecting a Joystick Parameter Header Data type/range Measured Parameter Viewing 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 idle Updating the Controller’s Software Creating Customized Object Files Objectmaker creates controller firmware with custom defaults Creating Customized Object Files 176 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mounting Considerations Mechanical SpecificationsThermal Considerations Wire Dimensions Wire DimensionsWeight Wire Gauge Outside Diameter Color Length 180