General Operation, Basic Operation | RoboteQ AX2550/2850 manual

Basic Operation

SECTION 4

General Operation

This section discusses the controller’s normal operation in all its supported operating modes.

Basic Operation

The AX2500/2850’s operation can be summarized as follows:

•Receive commands from a radio receiver, joystick or a microcomputer

•Activate the motors according to the received command

•Perform continuous check of fault conditions and adjust actions accordingly

Multiple options are available for each of the above listed functions which can be combined to produce practically any desired mobile robot configuration.

Input Command Modes

The controller will accept commands from one of the following sources

•R/C radio

•Serial data (RS232)

•Analog signal (0 to 5V)

A detailed discussion on each of these modes and the available commands is provided in the following dedicated chapters: “R/C Operation” on page 69, “Serial (RS-232) Controls and Operation” on page 87, and “Analog Control and Operation” on page 107.

The controller’s factory default mode is R/C radio. The mode can be changed using any of the methods described in “Programming using built-in Switches and Display” on page 153 and “Loading, Changing Controller Parameters” on page 162.

AX2500/2850 Motor Controller User’s Manual

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RoboteQ AX2550/2850 user manual General Operation, Basic Operation, Input Command Modes

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 Power Control input connected to Action Using the Power Control WireConnecting the R/C Radio 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 Sturdy and Compact Mechanical Design Advanced Safety FeaturesData Logging Capabilities Connecting Power Connecting Power and Motors to the ControllerConnecting 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 Electrical Noise Reduction Techniques Power Regeneration ConsiderationsElectrical Noise Reduction Techniques Undervoltage Protection Using the Controller with a Power SupplyOvervoltage 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 Selecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control Continuous and Extended Current Limitation Current Limit SettingsSetting Continuous High Amps Setting Continuous High Amps Extended Safe Amps Temperature-Based Current LimitationTemperature-Based Current Limitation Programmable Acceleration Surge Current ProtectionRegeneration Current Limiting Programmable Acceleration Exponentiation curves Command Control Curves Exponentiation Parameter Value Selected Curve Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Parameter Value Speed Adjustment Emergency Shut Down Using Controller Switches Inverted Operation Emergency Stop using External SwitchEmergency Stop using External Switch Using the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsSelf-Test Mode 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 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 Measured volts = controller reading + 128 * 0.255 Connecting User Devices to Analog InputsConnecting User Devices to Analog Inputs 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 Use of the LED Display Normal Fault Condition LED MessagesUse of the LED Display Possible Display Motor Comment Normal and Fault Condition LED MessagesMotor Direction Status No Control Fault MessagesFault Messages Emergency Stop Self-Test Display Operation Mode DescriptionMode Description Operation Selecting the R/C Input ModeTypical Wiring Pin Input or Number Signal Output Description Connector I/O Pin Assignment R/C ModeConnector I/O Pin Assignment R/C Mode 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 Reception WatchdogTransmitter/Receiver Quality Considerations Joystick Deadband Programming Joystick Calibration Left/Right Tuning AdjustmentCommand Control Curves 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 Use and benefits of RS232 Serial RS-232 Controls OperationUse 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 Extending the RS232 Cable Cable configurationCable configuration Establishing Manual Communication with a PC Communication SettingsBits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity 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 Set Motor Command Value RS232 Commands SetRS232 Mode if default 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 Modify parameter Read and Modify Controller SettingsRead 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 Unused Connector I/O Pin Assignment Analog ModeAnalog Control and Operation Connecting to a Voltage Source Connecting to a Voltage SourceConnecting a Potentiometer = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer Value Analog Deadband Adjustment Analog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 114 Selecting the Position Mode Closed Loop Position Mode Sensor Mounting Closed Loop Position ModePosition Sensor Selection 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 Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical Incremental Encoders Overview Recommended Encoder Types Installing, Connecting and Using the Encoder Mod Pulse Frequency in Hz = RPM / 60 * PPR Installing the Encoder ModuleInstalling the Encoder Module Position of Encoder Module on Controller’s main board Pin Name Cable Color Connecting the EncoderConnecting the Encoder 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 Speed/Distance Read Encoder Limit Switch StatusRead Distance ?w or ?W Switch ValueRead / Modify Encoder Module Registers and Parameters 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 Viewing Encoder Data Updating the Encoder SoftwareExercising the Motors Programming Methods Configuring Controller using SwitchesProgramming using built-in Switches and Display Configuring the Controller using the Switches Entering Programming Mode Special Case of Joystick Calibration Restoring factory defaultsChanging parameters Programmable Parameters List Exiting the Parameter Setting Mode Programmable Parameters List Order Letter Description Possible Values default Pages 158 System Requirements Using the Roborun Configuration UtilityDownloading and Installing the Utility 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 Joystick Timing Analog or R/C Specific SettingsDeadband Closed Loop Parameters Viewing the Parameters Summary Optical Encoder Operation Optical Encoder OperationRunning the Motors Measurement Motor Power settingRun/Stop Button 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 Loading and Saving Profiles to Disk Operating the AX2500/2850 over a Wired or Wireless LANViewing and Logging Data in Analog and R/C Modes 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 Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mechanical SpecificationsMounting Considerations Wire Gauge Outside Diameter Color Length Wire DimensionsWeight Wire Dimensions 180