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RoboteQ AX2550/2850 user manual Self-Test Mode

Models: AX2550/2850

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Self-Test Mode

After a few seconds, the LEDs will display a sequence of two numerical digits and an optional letter separated by dashes as shown in the examples below.

= Software version 1.7

FIGURE 20. Press and hold “Set” to display version number and enter self-test

After these digits are displayed, the controller will attempt to power the motors. Motor 1 will be ramped from stop to full speed forward, to full speed reverse and back to stop. Then the same operation will repeat on motor 2. After both motors have completed their ramps, the software revision will be displayed again and the motors will be ramped again. This sequence will repeat itself indefinitely until the controller is powered off or reset.

While in the Self Test mode, the AX2500/2850 will continuously send a string of characters on the RS232 output line. This string will contain 12 or 13 two-digits hexadecimal number representing the 13 following operating parameters.

•Captured R/C Command 1 and 2

•Power Applied to Controller’s output stage

•Values applied to Analog inputs 1 and 2

•Amps on channel 1 and 2

•Internal Heat Sink temperatures 1 and 2

•Main Battery voltage

•Internal 12V voltage

•Encoder Speed or Position if module is installed

The entire string is repeated every 208 or 224 milliseconds (depending whether the encoder module is present) with the latest internal parameter values. This information can be logged using the Roborun Utility (see “Viewing and Logging Data in Analog and R/C Modes” on page 172).

The string and data format is described in “Analog and R/C Modes Data Logging String For- mat” on page 102.

Important Warning

Disconnect the Motor Power (thick red wires) from the battery and power the con- troller by applying 12V on the Power Control input if you do not wish the motors to be activated while in Self Test mode.

This could be the case if you only wish to use the Self Test sequence to read the software revision number or to monitor the joystick capture.

AX2500/2850 Motor Controller User’s Manual

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Image 47

RoboteQ AX2550/2850 user manual Self-Test Mode

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 MotorsPower Control input connected to Action Using the Power Control WireConnecting the R/C Radio 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 OutputsSturdy 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 PowerTwo Controller PowerPowering the Controller using the Motor Batteries Powering the controller from the Motor Batteries Using a Backup BatteryWire Length Limits Power FusesElectrical 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 OperationGeneral Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed ControlSelecting 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 CurvesExponentiation Parameter Value Selected Curve Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Parameter Value Speed Adjustment Emergency Shut Down Using Controller SwitchesInverted 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 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 VoltagesMeasured volts = controller reading + 128 * 0.255 Connecting User Devices to Analog InputsConnecting User Devices to Analog Inputs Internal Voltage Monitoring Sensors Internal Heatsink Temperature SensorsTemperature Conversion C Source Code Temperature Conversion C Source CodeConnecting 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 DisplayOperation 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 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 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 OutputsUsing Channel 3 to activate accessory outputs Data Logging in R/C ModeData 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 pinExtending 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 PCSet Motor Command Value RS232 Commands SetRS232 Mode if default 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 SetModify parameter Read and Modify Controller SettingsRead 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 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 ValueAnalog Deadband Adjustment Analog Deadband AdjustmentData Logging in Analog Mode Power-On SafetyUnder Voltage Safety Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode114 Selecting the Position Mode Closed Loop Position ModeSensor Mounting Closed Loop Position ModePosition Sensor Selection 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 Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical Incremental Encoders Overview Recommended Encoder Types Installing, Connecting and Using the Encoder ModPulse 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 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 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 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 SettingViewing 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 ModeSpecial Case of Joystick Calibration Restoring factory defaultsChanging parameters Programmable Parameters List Exiting the Parameter Setting ModeProgrammable Parameters List Order Letter Description Possible Values default Pages158 System Requirements Using the Roborun Configuration UtilityDownloading and Installing the Utility 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 SettingJoystick Timing Analog or R/C Specific SettingsDeadband Closed Loop Parameters Viewing the Parameters SummaryOptical 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 MotorsLogging Data to Disk Parameter Header Data type/range Measured Parameter Connecting a JoystickLoading 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 LANCreating Customized Object Files Updating the Controller’s SoftwareCreating Customized Object Files Objectmaker creates controller firmware with custom defaults176 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mechanical SpecificationsMounting Considerations Wire Gauge Outside Diameter Color Length Wire DimensionsWeight Wire Dimensions180