104 | RoboteQ AX2550/2850 specs

	Apply Parameter Changes				97
	Reset Controller	97
	Optical Encoder Commands				97
	Commands Acknowledge and Error Messages								97
	Character Echo	97
	Command Acknowledgement					98
	Command Error	98
	Watchdog time-out		98
	RS-232 Watchdog	98
	RS232 Accessible Parameter Table						99
	Automatic Switching from RS232 to RC Mode								101
	Analog and R/C Modes Data Logging String Format 102
	Data Logging Cables 103
	Decimal to Hexadecimal Conversion Table							104
SECTION 9	Analog Control and Operation			107
	Mode Description	107
	Connector I/O Pin Assignment (Analog Mode)								108
	Connecting to a Voltage Source					109
	Connecting a Potentiometer				109
	Selecting the Potentiometer Value						110
	Analog Deadband Adjustment				111
	Power-On Safety 112
	Under Voltage Safety		112
	Data Logging in Analog Mode				112
SECTION 10	Closed Loop Position Mode			115
	Mode Description	115
	Selecting the Position Mode				115
	Position Sensor Selection			116
	Sensor Mounting	116
	Potentiometer wiring		117
	Using Optical Encoders in Position Mode							117
	Sensor and Motor Polarity			117
	Adding Safety Limit Switches				119
	Using Current Limiting as Protection						120
	Control Loop Description			120
	PID tuning in Position Mode				122
SECTION 11	Closed Loop Speed Mode		123
	Mode Description	123
	Selecting the Speed Mode			123

8

AX2500/2850 Motor Controller User’s Manual

Version 1.7. February 1, 2005

Image 8

RoboteQ AX2550/2850 user manual 104

Contents

Dual Channel High Power Digital Motor Controller AX2550/2850 Revision History Date Version Changes Revision History AX2550/2850 Motor Controller User’s Manual Section Section Self-Test Display 104 124 152 AX2500/2850 Quick Start What you will need Locating Switches, Wires and Connectors AX2500/2850 Quick Start 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 Button Operation Prog and Set button status Function Default Controller Configuration Checking and Changing ConfigurationsDefault Controller Configuration Parameter Default Values Letter Connecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision Number Exploring further AX2500/2850 Motor Controller Overview Product Description Technical features Technical features Low Power ConsumptionHigh Efficiency Motor Power Outputs Optical Encoder Inputs AX2850 only Sturdy and Compact Mechanical Design Advanced Safety FeaturesData Logging Capabilities Connecting Power Connecting Power and Motors to the ControllerConnecting Power Controller Power Connecting Power and Motors to the Controller Controller Power Two Powering the Controller using the Motor Batteries Using a Backup Battery Powering the controller from the Motor Batteries Power Fuses Wire Length Limits 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 Input Command Modes General OperationBasic Operation Basic Operation Selecting the Motor Control Modes Open Loop, Separate Speed ControlOpen Loop, Mixed Speed Control General Operation 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 Command Control Curves Exponentiation curves Exponentiation Parameter Value Selected Curve Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Emergency Shut Down Using Controller Switches Parameter Value Speed Adjustment 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 Pin Wire Input or Number Color Output Signal Description List and Pin Assignment Connecting devices to Output C Connecting devices to Output C Connecting devices to Output D Connecting external Mosfet and load to Output D Connecting Switches or Devices to Input E Connecting Switches or Devices to Input F Connecting Switches or Devices to EStop/Invert Input Show how to wire the switch to this input Connecting Position Potentiometers to Analog Inputs Connecting Position Potentiometers to Analog Inputs Connecting Tachometer to Analog Inputs Potentiometer wiring in Position mode Connecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhm Using the Analog Inputs to Monitor External Voltages NTC Measured volts = controller reading + 128 * 0.255 Connecting User Devices to Analog InputsConnecting User Devices to Analog Inputs Internal Heatsink Temperature Sensors Internal Voltage Monitoring 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 Self-Test Display Emergency Stop 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 Powering the Radio from the controller Partial opto-isolation with Channel 3 electrical diagram Powering the Radio from the controller Wiring for powering R/C radio from controller Operating the Controller in R/C mode Joystick position vs. pulse duration default values 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 Data Logging in R/C Mode Using Channel 3 to activate accessory outputs Data Logging in R/C Mode Operation Use and benefits of RS232 Serial RS-232 Controls OperationUse and benefits of RS232 Connector I/O Pin Assignment RS232 Mode Must be wired to pin 13 or pinMust be wired to pin Serial RS-232 Controls and Operation 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 Entering RS232 from R/C or Analog mode Data Logging String in R/C or Analog modeEstablishing Manual Communication with a PC Roboteq v1.7 02/01/05 s Set Motor Command Value RS232 Commands SetRS232 Mode if default Set Accessory Outputs Query Power Applied to MotorsRS232 Commands Set B7F A3F Query Amps Consumed by Motors Query Analog Inputs Query Heatsink Temperatures Query Battery VoltagesRS232 Commands Set Query Digital Inputs Modify parameter Read and Modify Controller SettingsRead parameter Optical Encoder Commands Commands Acknowledge and Error MessagesReset Controller Apply Parameter Changes Command Acknowledgement Command ErrorRS-232 Watchdog Watchdog time-out 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 Decimal to Hexadecimal Conversion Table Dec Hex 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mA Analog Deadband Adjustment Analog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC 114 Closed Loop Position Mode Selecting the Position Mode Sensor Mounting Closed Loop Position ModePosition Sensor Selection Potentiometer wiring Using Optical Encoders in Position ModePotentiometer wiring Sensor and Motor Polarity Important Safety Warning Adding Safety Limit Switches Safety limit switches interrupting power to motors Using Current Limiting as Protection Control Loop Description Control Loop Description PID tuning in Position Mode Closed Loop Speed Mode Selecting the Speed Mode Using Optical Encoder for Speed Feedback AX2850 only Tachometer wiringClosed Loop Speed Mode Tachometer or Encoder Mounting Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity Adjust Offset and Max Speed AX2500/2850 Motor Controller User’s Manual 127 PID tuning in Speed Mode PID algorithm used in Speed mode PID tuning in Speed Mode 130 Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical Incremental Encoders Overview Installing, Connecting and Using the Encoder Mod Recommended Encoder Types 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 Voltage Levels, Thresholds and Limit Switches Motor Encoder Polarity Matching 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 Using the Encoder to Track Position Distance = Destination Counter value / Divider RS232 Communication with the Encoder Module RS232 Encoder Command Set Read Encoder Counter?q or Q n ?Q0 Set/Reset Encoder Counters and Destination Registers RS232 Encoder Command SetRead Speed Or !Q n Read Speed/Distance Read Encoder Limit Switch StatusRead Distance ?w or ?W Switch ValueRead / Modify Encoder Module Registers and Parameters Address Parameter Description Size Access Controller replies, value is Register Description Encoder Hardware ID code Switch Status Speed or Distance 1 orCounter Read/Write Mailbox Counter 1 Counter Read Data Format Speed 1Time Base 1 Encoder Threshold Encoder Testing and Setting Using the PC Utility FFFFFF15 Encoder Module Parameters Setting Encoder Testing and Setting Using the PC Utility Viewing Encoder Data Updating the Encoder SoftwareExercising the Motors Programming Methods Configuring Controller using SwitchesProgramming using built-in Switches and Display Entering Programming Mode Configuring the Controller using the Switches Special Case of Joystick Calibration Restoring factory defaultsChanging parameters Exiting the Parameter Setting Mode Programmable Parameters List Order Letter Description Possible Values default Pages Programmable Parameters List 158 System Requirements Using the Roborun Configuration UtilityDownloading and Installing the Utility Connecting the Controller to the PC Using the Roborun Configuration Utility Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions Parameter Selection and Setting, and Special Functions File and Program Management CommandsGetting On-Screen Help Loading, Changing Controller Parameters Controls Settings Power Settings Left/Right AdjustAcceleration Setting Effect of Digital Inputs Joystick Timing Analog or R/C Specific SettingsDeadband Viewing the Parameters Summary Closed Loop Parameters Optical Encoder Operation Optical Encoder OperationRunning the Motors Measurement Motor Power settingRun/Stop Button Real-Time Strip Chart Recorder Input Status and Output SettingRunning the Motors Transmit and Receive Data Logging Data to Disk Connecting a Joystick Parameter Header Data type/range Measured Parameter 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 Operating the AX2500/2850 over a Wired or Wireless LAN Roboserver screenshot when idle Updating the Controller’s Software Creating Customized Object Files Objectmaker creates controller firmware with custom defaults Creating Customized Object Files 176 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mechanical SpecificationsMounting Considerations Wire Dimensions WeightWire Dimensions Wire Gauge Outside Diameter Color Length 180