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RoboteQ AX2550/2850 user manual Section

Models: AX2550/2850

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	Revision History	2
SECTION 1	AX2500/2850
	Quick Start 11
	What you will need		11
	Locating Switches, Wires and Connectors								12
	Connecting to the Batteries and Motors							13
	Using the Power Control Wire					14
	Connecting the R/C Radio				14
	Powering On the Controller				15
	Button Operation	16
	Default Controller Configuration					17
	Checking and Changing Configurations							17
	Connecting the controller to your PC using Roborun									18
	Obtaining the Controller’s Software Revision Number									19
	Exploring further	20
SECTION 2	AX2500/2850 Motor Controller Overview							21
	Product Description		21
	Technical features		22
SECTION 3	Connecting Power and Motors to the Controller 25
	Connecting Power		25
	Controller Power	26
	Powering the Controller using the Motor Batteries									28
	Using a Backup Battery				29
	Power Fuses 30
	Wire Length Limits		30
	Electrical Noise Reduction Techniques							31
	Power Regeneration Considerations						31
	Overvoltage Protection			32
	Undervoltage Protection			32
	Using the Controller with a Power Supply								32
SECTION 4	General Operation	35
	Basic Operation	35
	Input Command Modes			35
	Selecting the Motor Control Modes						36
	Open Loop, Separate Speed Control							36
	Open Loop, Mixed Speed Control						36
	Closed Loop Speed Control					37
	Close Loop Position Control					37

AX2500/2850 Motor Controller User’s Manual

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RoboteQ AX2550/2850 user manual Section

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 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 onlySturdy 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 General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationSelecting 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 InputsConnecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhmNTC 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 Must be wired to pin 13 or pin Connector I/O Pin Assignment RS232 ModeMust be wired to pin Serial RS-232 Controls and OperationExtending 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 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 sSet Motor Command Value RS232 Commands SetRS232 Mode if default 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 InputsModify parameter Read and Modify Controller SettingsRead 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 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 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 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 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 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 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 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 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 InputsJoystick 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 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 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 Weight Wire DimensionsWire Dimensions Wire Gauge Outside Diameter Color Length180