Closed Loop Speed Mode | RoboteQ AX2550/2850 specs

Mode Description

SECTION 11

Closed Loop Speed Mode

This section discusses the AX2500/2850 Close Loop Speed mode.

Mode Description

In this mode, an analog or digital speed sensor measures the actual motor speed and com- pares it to the desired speed. If the speed changes because of changes in load, the control- ler automatically compensates the power output. This mode is preferred in precision motor control and autonomous robotic applications.

The AX2500/2850 incorporates a full-featured Proportional, Integral, Differential (PID) con- trol algorithm for quick and stable speed control.

Selecting the Speed Mode

The speed mode is selected by changing the Motor Control parameter in the controller to either

•A and B Closed Loop Speed Separate

•A and B Closed Loop Speed Mixed

•A Closed Loop Speed, B Position

Note that in the last selection, only the first motor will operate in the Closed Loop Speed mode.

Changing the parameter to select this mode is done using the Roborun Utility. See “Load- ing, Changing Controller Parameters” on page 162.

For safety reasons and to prevent this mode from being accidentally selected, Closed Loop Speed modes CAN NOT be selected by configuring the controller using the built-in switches and display.

AX2500/2850 Motor Controller User’s Manual

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RoboteQ AX2550/2850 user manual Closed Loop Speed Mode, Selecting the Speed Mode

Contents

AX2550/2850 Dual Channel High Power Digital Motor Controller Date Version Changes Revision History Revision History AX2550/2850 Motor Controller User’s Manual Section Section Self-Test Display 104 124 152 What you will need AX2500/2850 Quick Start AX2500/2850 Quick Start Locating Switches, Wires and Connectors Connecting to the Batteries and Motors Connecting to the Batteries and Motors Using the Power Control Wire Connecting the R/C RadioPower Control input connected to Action Powering On the Controller Powering On the Controller Prog and Set button status Function Button Operation Parameter Default Values Letter Default Controller ConfigurationChecking and Changing Configurations Default Controller Configuration Connecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision Number Exploring further Product Description AX2500/2850 Motor Controller Overview Technical features Optical Encoder Inputs AX2850 only Technical featuresLow Power Consumption High Efficiency Motor Power Outputs Advanced Safety Features Data Logging CapabilitiesSturdy and Compact Mechanical Design Connecting Power and Motors to the Controller Connecting PowerConnecting Power Connecting Power and Motors to the Controller Controller Power Two Controller Power Powering the Controller using the Motor Batteries Powering the controller from the Motor Batteries Using a Backup Battery Wire Length Limits Power Fuses Power Regeneration Considerations Electrical Noise Reduction TechniquesElectrical Noise Reduction Techniques Using the Controller with a Power Supply Overvoltage ProtectionUndervoltage Protection Using the Controller with a Power Supply Connecting Power and Motors to the Controller Basic Operation Input Command ModesGeneral Operation Basic Operation General Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed Control Closed Loop Speed Control Close Loop Position ControlSelecting the Motor Control Modes Current Limit Settings Setting Continuous High AmpsContinuous and Extended Current Limitation Temperature-Based Current Limitation Temperature-Based Current LimitationSetting Continuous High Amps Extended Safe Amps Surge Current Protection Regeneration Current LimitingProgrammable Acceleration Programmable Acceleration Exponentiation curves Command Control Curves Left / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Parameter Value Speed Adjustment Emergency Shut Down Using Controller Switches Emergency Stop using External Switch Emergency Stop using External SwitchInverted Operation Special Use of Accessory Digital Inputs Self-Test ModeUsing the Inputs to Activate the Buffered Output Self-Test Mode General Operation Connecting Sensors and Actuators to Input/Outputs AX2500/2850 ConnectionsAX2500/2850 Connections Connecting Sensors and Actuators to Input/Outputs Signal Type Use Activated AX2500/2850’s Inputs and OutputsAX2500/2850’s Inputs and Outputs List and Pin Assignment Pin Wire Input or Number Color Output Signal Description Connecting devices to Output C Connecting devices to Output C Connecting external Mosfet and load to Output D Connecting devices to Output D Connecting Switches or Devices to Input F Connecting Switches or Devices to Input E Show how to wire the switch to this input Connecting Switches or Devices to EStop/Invert Input Connecting Position Potentiometers to Analog Inputs Connecting Position Potentiometers to Analog Inputs Potentiometer wiring in Position mode Connecting Tachometer to Analog Inputs Resistance kOhm Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Temp oC NTC Using the Analog Inputs to Monitor External Voltages Connecting User Devices to Analog Inputs Connecting User Devices to Analog InputsMeasured volts = controller reading + 128 * 0.255 Internal Voltage Monitoring Sensors Internal Heatsink Temperature Sensors Temperature Conversion C Source Code Temperature Conversion C Source Code Connecting Sensors and Actuators to Input/Outputs Normal Fault Condition LED Messages Use of the LED DisplayUse of the LED Display Normal and Fault Condition LED Messages Motor Direction StatusPossible Display Motor Comment Fault Messages Fault MessagesNo Control Emergency Stop Self-Test Display Mode Description Mode DescriptionOperation Selecting the R/C Input Mode Typical WiringOperation 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 Partial opto-isolation with Channel 3 electrical diagram Powering the Radio from the controller Wiring for powering R/C radio from controller Powering the Radio from the controller Joystick position vs. pulse duration default values Operating the Controller in R/C mode Reception Watchdog Transmitter/Receiver Quality ConsiderationsReception Watchdog Joystick Deadband Programming Left/Right Tuning Adjustment Command Control CurvesJoystick Calibration Automatic Joystick Calibration Activating the Accessory Outputs Activating the Accessory Outputs Using Channel 3 to activate accessory outputs Data Logging in R/C Mode Data Logging in R/C Mode Operation Serial RS-232 Controls Operation Use and benefits of RS232Use and benefits of RS232 Serial RS-232 Controls and Operation Connector I/O Pin Assignment RS232 ModeMust be wired to pin 13 or pin Must be wired to pin Cable configuration Cable configurationExtending the RS232 Cable Communication Settings Bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even ParityEstablishing Manual Communication with a PC Roboteq v1.7 02/01/05 s Entering RS232 from R/C or Analog modeData Logging String in R/C or Analog mode Establishing Manual Communication with a PC RS232 Commands Set RS232 Mode if defaultSet Motor Command Value A3F Set Accessory OutputsQuery Power Applied to Motors RS232 Commands Set B7F Query Analog Inputs Query Amps Consumed by Motors Query Digital Inputs Query Heatsink TemperaturesQuery Battery Voltages RS232 Commands Set Read and Modify Controller Settings Read parameterModify parameter Apply Parameter Changes Optical Encoder CommandsCommands Acknowledge and Error Messages Reset Controller Watchdog time-out Command AcknowledgementCommand Error RS-232 Watchdog 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 Dec Hex Decimal to Hexadecimal Conversion Table Decimal to Hexadecimal Conversion Table 106 Analog Control and Operation Connector I/O Pin Assignment Analog Mode Analog Control and OperationUnused Connecting to a Voltage Source Connecting a PotentiometerConnecting to a Voltage Source = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer Value Analog Deadband Adjustment Analog Deadband Adjustment Power-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 114 Selecting the Position Mode Closed Loop Position Mode Closed Loop Position Mode Position Sensor SelectionSensor Mounting Sensor and Motor Polarity Potentiometer wiringUsing Optical Encoders in Position Mode Potentiometer wiring Important Safety Warning Safety limit switches interrupting power to motors Adding Safety Limit Switches Control Loop Description Using Current Limiting as Protection Control Loop Description PID tuning in Position Mode Selecting the Speed Mode Closed Loop Speed Mode Tachometer or Encoder Mounting Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Closed Loop Speed Mode Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity Adjust Offset and Max Speed AX2500/2850 Motor Controller User’s Manual 127 PID algorithm used in Speed mode PID tuning in Speed Mode PID tuning in Speed Mode 130 Installing Connecting Using Encoder Module Optical Incremental Encoders OverviewOptical Incremental Encoders Overview Recommended Encoder Types Installing, Connecting and Using the Encoder Mod 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 Motor Encoder Polarity Matching Voltage Levels, Thresholds and Limit Switches 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 Distance = Destination Counter value / Divider Using the Encoder to Track Position RS232 Communication with the Encoder Module ?Q0 RS232 Encoder Command SetRead Encoder Counter ?q or Q n Or !Q n Set/Reset Encoder Counters and Destination RegistersRS232 Encoder Command Set Read Speed Read Encoder Limit Switch Status Read DistanceRead Speed/Distance Switch Value Read / Modify Encoder Module Registers and Parameters?w or ?W Controller replies, value is Address Parameter Description Size Access Encoder Hardware ID code Register Description Counter 1 Switch StatusSpeed or Distance 1 or Counter Read/Write Mailbox Encoder Threshold Counter Read Data FormatSpeed 1 Time Base 1 FFFFFF15 Encoder Testing and Setting Using the PC Utility Encoder Testing and Setting Using the PC Utility Encoder Module Parameters Setting Updating the Encoder Software Exercising the MotorsViewing Encoder Data Configuring Controller using Switches Programming using built-in Switches and DisplayProgramming Methods Configuring the Controller using the Switches Entering Programming Mode Restoring factory defaults Changing parametersSpecial Case of Joystick Calibration Programmable Parameters List Exiting the Parameter Setting Mode Programmable Parameters List Order Letter Description Possible Values default Pages 158 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements Using the Roborun Configuration Utility Connecting the Controller to the PC Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions Loading, Changing Controller Parameters Parameter Selection and Setting, and Special FunctionsFile and Program Management Commands Getting On-Screen Help Controls Settings Effect of Digital Inputs Power SettingsLeft/Right Adjust Acceleration Setting Analog or R/C Specific Settings DeadbandJoystick Timing Closed Loop Parameters Viewing the Parameters Summary Optical Encoder Operation Running the MotorsOptical Encoder Operation Motor Power setting Run/Stop ButtonMeasurement Transmit and Receive Data Real-Time Strip Chart RecorderInput Status and Output Setting Running the Motors Logging Data to Disk Parameter Header Data type/range Measured Parameter Connecting a Joystick Operating the AX2500/2850 over a Wired or Wireless LAN Viewing and Logging Data in Analog and R/C ModesLoading and Saving Profiles to Disk Roboserver screenshot when idle Operating the AX2500/2850 over a Wired or Wireless LAN Creating Customized Object Files Updating the Controller’s Software Creating Customized Object Files Objectmaker creates controller firmware with custom defaults 176 Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Wire Gauge Outside Diameter Color Length Wire DimensionsWeight Wire Dimensions 180