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RoboteQ AX2550/2850 user manual Revision History

Models: AX2550/2850

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Revision History

AX2550/2850 Motor Controller User’s Manual

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RoboteQ AX2550/2850 user manual Revision History

Contents

AX2550/2850 Dual Channel High Power Digital Motor ControllerDate Version Changes Revision HistoryRevision History AX2550/2850 Motor Controller User’s Manual Section Section Self-Test Display 104 124 152 What you will need AX2500/2850 Quick StartAX2500/2850 Quick Start Locating Switches, Wires and ConnectorsConnecting to the Batteries and Motors Connecting to the Batteries and MotorsUsing the Power Control Wire Connecting the R/C RadioPower Control input connected to Action Powering On the Controller Powering On the ControllerProg and Set button status Function Button OperationParameter Default Values Letter Default Controller ConfigurationChecking and Changing Configurations Default Controller ConfigurationConnecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision NumberExploring further Product Description AX2500/2850 Motor Controller OverviewTechnical features Optical Encoder Inputs AX2850 only Technical featuresLow Power Consumption High Efficiency Motor Power OutputsAdvanced 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 PowerTwo Controller PowerPowering the Controller using the Motor Batteries Powering the controller from the Motor Batteries Using a Backup BatteryWire Length Limits Power FusesPower 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 OperationGeneral Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed ControlClosed 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 CurvesLeft / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Parameter Value Speed Adjustment Emergency Shut Down Using Controller SwitchesEmergency 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 DescriptionConnecting devices to Output C Connecting devices to Output CConnecting external Mosfet and load to Output D Connecting devices to Output DConnecting Switches or Devices to Input F Connecting Switches or Devices to Input EShow how to wire the switch to this input Connecting Switches or Devices to EStop/Invert InputConnecting Position Potentiometers to Analog Inputs Connecting Position Potentiometers to Analog InputsPotentiometer wiring in Position mode Connecting Tachometer to Analog InputsResistance kOhm Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Temp oCNTC Using the Analog Inputs to Monitor External VoltagesConnecting User Devices to Analog Inputs Connecting User Devices to Analog InputsMeasured volts = controller reading + 128 * 0.255 Internal Voltage Monitoring Sensors Internal Heatsink Temperature SensorsTemperature Conversion C Source Code Temperature Conversion C Source CodeConnecting 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 DisplayMode 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 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-IsolationPartial opto-isolation with Channel 3 electrical diagram Powering the Radio from the controllerWiring for powering R/C radio from controller Powering the Radio from the controllerJoystick position vs. pulse duration default values Operating the Controller in R/C modeReception 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 OutputsUsing Channel 3 to activate accessory outputs Data Logging in R/C ModeData 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 pinCable 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 PCRS232 Commands Set RS232 Mode if defaultSet Motor Command Value A3F Set Accessory OutputsQuery Power Applied to Motors RS232 Commands Set B7FQuery Analog Inputs Query Amps Consumed by MotorsQuery Digital Inputs Query Heatsink TemperaturesQuery Battery Voltages RS232 Commands SetRead and Modify Controller Settings Read parameterModify parameter Apply Parameter Changes Optical Encoder CommandsCommands Acknowledge and Error Messages Reset ControllerWatchdog time-out Command AcknowledgementCommand Error RS-232 WatchdogRS232 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 CablesDec Hex Decimal to Hexadecimal Conversion TableDecimal 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 ValueAnalog Deadband Adjustment Analog Deadband AdjustmentPower-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode114 Selecting the Position Mode Closed Loop Position ModeClosed Loop Position Mode Position Sensor SelectionSensor Mounting Sensor and Motor Polarity Potentiometer wiringUsing Optical Encoders in Position Mode Potentiometer wiringImportant Safety Warning Safety limit switches interrupting power to motors Adding Safety Limit SwitchesControl Loop Description Using Current Limiting as ProtectionControl Loop Description PID tuning in Position Mode Selecting the Speed Mode Closed Loop Speed ModeTachometer or Encoder Mounting Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Closed Loop Speed ModeSpeed Sensor and Motor Polarity Speed Sensor and Motor PolarityAdjust Offset and Max Speed AX2500/2850 Motor Controller User’s Manual 127 PID algorithm used in Speed mode PID tuning in Speed ModePID 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 ModInstalling 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 SwitchesWiring Optional Limit Switches Wiring Optional Limit SwitchesUsing the Encoder Module to Measure Distance Using the Encoder to Measure Speed Using the Encoder to Measure SpeedDistance = Destination Counter value / Divider Using the Encoder to Track PositionRS232 Communication with the Encoder Module ?Q0 RS232 Encoder Command SetRead Encoder Counter ?q or Q nOr !Q n Set/Reset Encoder Counters and Destination RegistersRS232 Encoder Command Set Read SpeedRead 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 AccessEncoder Hardware ID code Register DescriptionCounter 1 Switch StatusSpeed or Distance 1 or Counter Read/Write MailboxEncoder Threshold Counter Read Data FormatSpeed 1 Time Base 1FFFFFF15 Encoder Testing and Setting Using the PC UtilityEncoder Testing and Setting Using the PC Utility Encoder Module Parameters SettingUpdating 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 ModeRestoring factory defaults Changing parametersSpecial Case of Joystick Calibration Programmable Parameters List Exiting the Parameter Setting ModeProgrammable Parameters List Order Letter Description Possible Values default Pages158 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements Using the Roborun Configuration Utility Connecting the Controller to the PCRoborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu DescriptionsLoading, Changing Controller Parameters Parameter Selection and Setting, and Special FunctionsFile and Program Management Commands Getting On-Screen HelpControls Settings Effect of Digital Inputs Power SettingsLeft/Right Adjust Acceleration SettingAnalog or R/C Specific Settings DeadbandJoystick Timing Closed Loop Parameters Viewing the Parameters SummaryOptical 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 MotorsLogging Data to Disk Parameter Header Data type/range Measured Parameter Connecting a JoystickOperating 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 LANCreating Customized Object Files Updating the Controller’s SoftwareCreating Customized Object Files Objectmaker creates controller firmware with custom defaults176 Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Wire Gauge Outside Diameter Color Length Wire DimensionsWeight Wire Dimensions180