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RoboteQ AX2550/2850 user manual Using the Controller with a Power Supply

Models: AX2550/2850

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Using the Controller with a Power Supply

high current surges during motor acceleration, making it possible to use a lower current power supply. Battery mounted in this way should be connected for the first time only while fully charged and should not be allowed to discharge. The power supply will be required to output unsafe amounts of current if connected directly to a discharged battery.

•Place a resistive load in parallel with the power supply, with a circuit to enable that load during regeneration. This solution is more complex but will provide a safe path for the braking energy into a load designed to dissipate it. To prevent current from flowing from the power supply into the load during normal operation, an active switch would enable the load when the voltage rises above the nominal output of the power supply.

AX2500/2850 Motor Controller User’s Manual

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RoboteQ AX2550/2850 user manual Using the Controller with a Power Supply

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 OperationChecking and Changing Configurations Default Controller ConfigurationDefault Controller Configuration 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 Product Description AX2500/2850 Motor Controller OverviewTechnical features Low Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Optical Encoder Inputs AX2850 onlyAdvanced 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 General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationClosed 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 InputsConnecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhmNTC 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 Must be wired to pin 13 or pin Connector I/O Pin Assignment RS232 ModeMust be wired to pin Serial RS-232 Controls and OperationCable 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 Data Logging String in R/C or Analog mode Entering RS232 from R/C or Analog modeEstablishing Manual Communication with a PC Roboteq v1.7 02/01/05 sRS232 Commands Set RS232 Mode if defaultSet Motor Command Value Query Power Applied to Motors Set Accessory OutputsRS232 Commands Set B7F A3FQuery Analog Inputs Query Amps Consumed by MotorsQuery Battery Voltages Query Heatsink TemperaturesRS232 Commands Set Query Digital InputsRead and Modify Controller Settings Read parameterModify parameter Commands Acknowledge and Error Messages Optical Encoder CommandsReset Controller Apply Parameter ChangesCommand Error Command AcknowledgementRS-232 Watchdog 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 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 Using Optical Encoders in Position Mode Potentiometer wiringPotentiometer wiring Sensor and Motor PolarityImportant 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 wiring Using Optical Encoder for Speed Feedback AX2850 onlyClosed Loop Speed Mode 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 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 Read Encoder Counter RS232 Encoder Command Set?q or Q n ?Q0RS232 Encoder Command Set Set/Reset Encoder Counters and Destination RegistersRead Speed Or !Q nRead 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 DescriptionSpeed or Distance 1 or Switch StatusCounter Read/Write Mailbox Counter 1Speed 1 Counter Read Data FormatTime Base 1 Encoder ThresholdFFFFFF15 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 DescriptionsFile and Program Management Commands Parameter Selection and Setting, and Special FunctionsGetting On-Screen Help Loading, Changing Controller ParametersControls Settings Left/Right Adjust Power SettingsAcceleration Setting Effect of Digital InputsAnalog 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 Input Status and Output Setting Real-Time Strip Chart RecorderRunning the Motors Transmit and Receive DataLogging 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 Weight Wire DimensionsWire Dimensions Wire Gauge Outside Diameter Color Length180