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RoboteQ AX2550 Query Power Applied to Motors, Query Amps from Battery to each Motor Channel

Models: AX2550 AX1500

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Query Power Applied to Motors

Serial (RS-232) Controls and Operation

Query Power Applied to Motors

Description:

This query will cause the controller to return the actual amount of power that is being applied to the motors at that time. The number is a hexadecimal number ranging from 0 to +127 (0 to 7F in Hexadecimal). In most cases, this value is directly related to the command value, except in the conditions described in the notes below.

Syntax:

?v or ?V

Reply:nn mm

Where:nn = motor 1 applied power value

mm= motor 2 applied power value

Notes:

The applied power value that is read back from the controller can be different than the com- mand values for any of the following reasons: current limitation is active, motors operate at reduced speed after overheat detection, or mixed mode is currently active.

No forward or reverse direction information is returned by this query. This query is most useful for providing feedback to a microcontroller commanding the controller.

Query Amps from Battery to each Motor Channel

Description:

This query will cause the controller to return the actual number of Amps flowing from the battery to power each motor. The number is an unsigned Hexadecimal number ranging from 0 to 256 (0 to FF in Hexadecimal).

Syntax:

?a or ?A

Reply:nn mm

Where:nn = motor 1 Amps

mm= motor 2 Amps

Notes:

The Amps measurement has an approximately 10% precision. Its main purpose is to pro- vide feedback to the controller’s current limitation circuitry.

Important Notice

The current flowing in the motor can be higher than the battery flowing out of the battery.

See “Battery Current vs. Motor Current” on page 43.

Important Notice

On the AX3500, the number returned by the ?a command must be divided by four to obtain the actual Amps value

130

AX1500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 130

RoboteQ AX2550 Query Power Applied to Motors, Query Amps from Battery to each Motor Channel, Important Notice, Syntax

Contents

AX1500 Dual Channel Digital Motor ControllerUser’s Manual AX1500 Motor Controller User’s Manual Version 1.9b. June 1Date Revision HistoryRevision History VersionAX1500 Motor Controller User’s Manual Version 1.9b. June 1Revision History General Operation Recommended Encoder Types SECTION Connector I/O Pin Assignment RS232 Mode Controller Identification Register Logging Data to Disk AX1500 Motor Controller User’s Manual Version 1.9b. June 1Do not Connect to a RC Radio with a Battery Attached Important SafetyAvoid Shorts when Mounting Board against Chassis WarningsAX1500 Motor Controller User’s Manual Important Safety WarningsVersion 1.9b. June 1 Quick Start Locating the ConnectorsAX1500 What you will needAX1500 Quick Start AX1500 Motor Controller User’s ManualConnecting to the Batteries and Motors Connecting to the Batteries and MotorsAX1500 Motor Controller User’s Manual Signal Connecting to the 15-pin ConnectorImportant Warning RC ModeImportant Warning Connecting the R/C RadioConnecting the R/C Radio AX1500 Motor Controller User’s ManualDefault Values Powering On the ControllerDefault Controller Configuration AX1500 Quick StartConnecting the controller to your PC using Roborun Connecting the controller to your PC using RoborunAX1500 Motor Controller User’s Manual AX1500 Quick Start Obtaining the Controller’s Software Revision NumberExploring further AX1500 Motor Controller User’s ManualProduct Description SECTION 3AX1500 Motor Controller OverviewAX1500 Motor Controller User’s Manual Automatic Joystick Command Corrections Technical featuresMultiple Command Modes AX1500 Motor Controller OverviewHigh Efficiency Motor Power Outputs Technical featuresLow Power Consumption Optical Encoder Inputs optionalData Logging Capabilities Advanced Safety FeaturesAX1500 Motor Controller Overview Compact Open Frame PCB DesignPower Connections Connecting Power and Motors to the ControllerPower Connections Important WarningConnecting Power and Motors to the Controller Controller PowerAX1500 Motor Controller User’s Manual And Main Battery Controller PowerPower Control input is mended Off ConfigurationConnecting Power and Motors to the Controller Controller Powering SchemesPowering the Controller from a single Battery Power Control input isImportant Warning Powering the Controller Using a Main and Backup BatteryController Powering Schemes AX1500 Motor Controller User’s ManualImportant Warning Connecting the MotorsConnecting Power and Motors to the Controller Important WarningSingle Channel Operation Single Channel OperationConverting the AX1500 to Single Channel AX1500 Motor Controller User’s ManualConnecting Power and Motors to the Controller Power FusesWire Length Limits Important WarningImportant Warning Power Regeneration ConsiderationsElectrical Noise Reduction Techniques Electrical Noise Reduction TechniquesUndervoltage Protection Using the Controller with a Power SupplyOvervoltage Protection Connecting Power and Motors to the ControllerUsing the Controller with a Power Supply AX1500 Motor Controller User’s ManualAX1500 Motor Controller User’s Manual Connecting Power and Motors to the ControllerVersion 1.9b. June 1 Basic Operation Input Command ModesGeneral Operation Basic OperationOpen Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General OperationSelecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control AX1500 Motor Controller User’s ManualTemperature User Selected Current Limit SettingsTemperature-Based Current Limitation Position Feedback Position Sensor Gear boxMotor Current = Battery Current / PWM ratio Battery Current vs. Motor CurrentBattery Current vs. Motor Current AX1500 Motor Controller User’s ManualImportant Warning Regeneration Current LimitingMotor Current = Battery Current / PWM Ratio General OperationSetting Using Programmable AccelerationSetting Using SwitchesSetting Using Command Control CurvesSetting Using SwitchesExponentiation Parameter Value Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Selected CurveGeneral Operation Speed AdjustmentSpeed Adjustment Parameter ValueInverted Operation Emergency Stop using External SwitchActivating Brake Release or Separate Motor Excitation Speed AdjustmentUsing the Inputs to turn Off/On the Power MOSFET transistors Special Use of Accessory Digital InputsUsing the Inputs to Activate the Buffered Output General OperationAX1500 Connections Connecting Sensors and Actuators to Input/OutputsAX1500 Connections AX1500 Motor Controller User’s ManualConnecting Sensors and Actuators to Input/Outputs AX1500’s Inputs and OutputsAX1500 Motor Controller User’s Manual I/O type SignalAX1500’s Inputs and Outputs ActivatedConnecting Sensors and Actuators to Input/Outputs Pin1I/O List and Pin Assignment Signal dependingSignal depending Connecting devices to Output CConnecting devices to Output C on ModeImportant warning Connecting Switches or Devices to Input EConnecting Switches or Devices to Input F Connecting Sensors and Actuators to Input/OutputsConnecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert InputAX1500 Motor Controller User’s Manual Connecting Sensors and Actuators to Input/Outputs Connecting Position Potentiometers to Analog InputsAnalog Inputs AX1500 Motor Controller User’s ManualOperating Mode Connecting Tachometer to Analog InputsConnecting Tachometer to Analog Inputs Important WarningImportant Warning Connecting Sensors and Actuators to Input/OutputsOperating Mode Ana 1 p11Temp oC Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Resistance kOhmConnecting Sensors and Actuators to Input/Outputs Using the Analog Inputs to Monitor External VoltagesAX1500 Motor Controller User’s Manual Internal Voltage Monitoring Sensors Connecting User Devices to Analog InputsInternal Heatsink Temperature Sensors Connecting User Devices to Analog InputsAX1500 Motor Controller User’s Manual Temperature Conversion C Source CodeConnecting Sensors and Actuators to Input/Outputs Valueelse Internal Heatsink Temperature SensorsAX1500 Motor Controller User’s Manual LoTemp = i * 5AX1500 Motor Controller User’s Manual Connecting Sensors and Actuators to Input/OutputsVersion 1.9b. June 1 Optical Incremental Encoders Overview Installing Connecting and Using the Encoder ModuleOptical Incremental Encoders Overview AX1500 Motor Controller User’s ManualInstalling, Connecting and Using the Encoder Mod Recommended Encoder TypesAX1500 Motor Controller User’s Manual Pulse Frequency in Hz = RPM / 60 * PPR Installing the Encoder ModuleInstalling the Encoder Module AX1500 Motor Controller User’s ManualInstalling, Connecting and Using the Encoder Mod Connecting the EncoderAX1500 Motor Controller User’s Manual Name Cable Length and Noise ConsiderationsCable Length and Noise Considerations Cable ColorInstalling, Connecting and Using the Encoder Mod Voltage Levels, Thresholds and Limit SwitchesMotor - Encoder Polarity Matching Important WarningImportant Warning Wiring Optional Limit SwitchesWiring Optional Limit Switches AX1500 Motor Controller User’s ManualWhen the switch is activated, the module’s input is pulled to Installing, Connecting and Using the Encoder ModAX1500 Motor Controller User’s Manual Wiring Limit Switches Without Encoders Wiring Limit Switches Without EncodersEffect of Limit Switches Motor 1 FwdInstalling, Connecting and Using the Encoder Mod Using the Encoder Module to Measure DistanceUsing the Encoder to Measure Speed Motor 2 FwdUsing the Encoder to Track Position Using the Encoder to Track PositionImportant Notice AX1500 Motor Controller User’s ManualImportant Notice RS232 Communication with the Encoder ModuleInstalling, Connecting and Using the Encoder Mod Distance = Destination - Counter value / DividerEncoder Testing and Setting Using the PC Utility Encoder Testing and Setting Using the PC UtilityAX1500 Motor Controller User’s Manual AX1500 Motor Controller User’s Manual Installing, Connecting and Using the Encoder ModVersion 1.9b. June 1 Selecting the Position Mode Closed Loop Position ModeMode Description Mode DescriptionClosed Loop Position Mode Position Sensor SelectionSensor Mounting Position Feedback Position Sensor Gear boxFeedback Potentiometer wiring Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode Important NoticeImportant Notice Feedback Potentiometer wiring in Analog ModeClosed Loop Position Mode AX1500 Motor Controller User’s ManualAnalog Feedback on Single Channel Controllers Feedback Wiring in RC or RS232 Mode on Single Channel ControllersFeedback Wiring in Analog Mode on Single Channel Controllers Important NoticeClosed Loop Position Mode Using Optical Encoders in Position ModeSensor and Motor Polarity Important WarningAdding Safety Limit Switches Important Safety WarningEncoder Error Detection and Protection Encoder Error Detection and ProtectionFIGURE 53. Safety limit switches interrupting power to motors Closed Loop Position ModeAX1500 Motor Controller User’s Manual Using Current Limiting as Protection Using Current Limiting as ProtectionControl Loop Description Important WarningClosed Loop Position Mode PID tuning in Position ModeAX1500 Motor Controller User’s Manual Applied Power = Command Value - Actual Position * Proportional Gain PID tuning in Position ModeAX1500 Motor Controller User’s Manual AX1500 Motor Controller User’s Manual Closed Loop Position ModeVersion 1.9b. June 1 Using Optical Encoder for Speed FeedbackDigital Optical Encod Closed Loop Speed ModeSelecting the Speed Mode Mode DescriptionClosed Loop Speed Mode Tachometer wiringTachometer or Encoder Mounting AX1500 Motor Controller User’s ManualSpeed Sensor and Motor Polarity Speed Sensor and Motor PolarityImportant Warning AX1500 Motor Controller User’s ManualImportant Warning Adjust Offset and Max SpeedClosed Loop Speed Mode Control Loop DescriptionPID tuning in Speed Mode PID tuning in Speed ModeAX1500 Motor Controller User’s Manual In Speed Mode, the Integral component of the PID is the most important and must be set first. The Proportional and Differential component will help improve the response time and loop stability Closed Loop Speed ModeAX1500 Motor Controller User’s Manual Diagnostic LED Normal and Fault Condition LED MessagesPower On LED Normal Operation Flashing PatternNormal and Fault Condition LED Messages Output Off / Fault ConditionAX1500 Motor Controller User’s Manual Mode Description SECTION 11 R/C OperationMode Description AX1500 Motor Controller User’s ManualSignal Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Pin1Signal R/C Input Circuit DescriptionSupplied Cable Description R/C Input Circuit DescriptionR/C Operation Powering the Radio from the controllerFIGURE 64. RC Cable wiring diagram FIGURE 65. RC connection cable6 Radio battery - Ground 7 Radio battery + 8 Channel 3 Command Pulses Powering the Radio from the controller3 Channel 1 Command Pulses 4 Channel 2 Command Pulses Wire loop bringing power from controller to RC radioR/C Operation Connecting to a Separately Powered RadioOperating the Controller in R/C mode AX1500 Motor Controller User’s ManualReception Watchdog Reception WatchdogAX1500 Motor Controller User’s Manual Joystick Deadband Programming Important Notice about PCM RadiosR/C Transmitter/Receiver Quality Considerations R/C OperationDeadband Parameter Value Command Control CurvesCommand Control Curves Deadband as Percent of full Joystick TravelJoystick Calibration Left/Right Tuning AdjustmentActivating the Accessory Outputs R/C OperationData Logging in R/C Mode Data Logging in R/C ModeAX1500 Motor Controller User’s Manual DB15 Male R/C OperationAX1500 Motor Controller User’s Manual To ControllerMode Description Analog Control and OperationMode Description Important NoticePin1 Connector I/O Pin Assignment Analog ModeSignal Analog Control and OperationConnecting to a Voltage Source Connecting to a Voltage SourceConnecting a Potentiometer AX1500 Motor Controller User’s ManualSelecting the Potentiometer Value Important NoticeAnalog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety Motor Power at 0%Data Logging in Analog Mode AX1500 Motor Controller User’s ManualAX1500 Motor Controller User’s Manual Analog Control and OperationVersion 1.9b. June 1 Use and benefits of RS232 Serial RS-232 Controls and OperationUse and benefits of RS232 AX1500 Motor Controller User’s ManualPin1 Connector I/O Pin Assignment RS232 ModeSignal Serial RS-232 Controls and OperationCable configuration Cable configurationExtending the RS232 Cable AX1500 Motor Controller User’s ManualEstablishing Manual Communication with a PC Communication Settings9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Serial RS-232 Controls and OperationRoboteq v1.9b 06/01/07 s RS232 Communication with the Encoder ModuleEstablishing Manual Communication with a PC AX1500 Motor Controller User’s ManualSerial RS-232 Controls and Operation Entering RS232 from R/C or Analog modeData Logging String in R/C or Analog mode AX1500 Motor Controller User’s ManualCommand Acknowledgement Commands Acknowledge and Error MessagesRS232 Mode if default Command ErrorCommand Controller Commands and QueriesRS-232 Watchdog Serial RS-232 Controls and OperationController Commands and Queries Set Motor Command ValueSet Accessory Output CommandImportant Notice Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel Important NoticeQuery Analog Inputs Query Heatsink TemperaturesQuery Battery Voltages Controller Commands and QueriesSerial RS-232 Controls and Operation Reset ControllerQuery Digital Inputs SyntaxAccessing & Changing Configuration Parameter in Flash Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameterLocation Flash Configuration Parameters ListSerial RS-232 Controls and Operation DescriptionAccessing & Changing Configuration Parameter in Flash Input Control ModeMotor Control Mode AccessAfter Reset or FF Amps LimitAccess Serial RS-232 Controls and OperationAccessing & Changing Configuration Parameter in Flash Input Switches FunctionAcceleration AccessAccess RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel After Reset or FFAccessing & Changing Configuration Parameter in Flash Left/Right AdjustDefault Encoder Time Base 1 and AccessJoystick Min, Max and Center Values Default Encoder Distance DividerDefault PID Gains Access1C - Joystick Max 2 MS 1D - Joystick Max 2 LS Effective Instantly Reading & Changing Operating Parameters at RuntimeReading & Changing Operating Parameters at Runtime DefinitionAccess Operating Modes RegistersRead/Change PID Values Important Notice87 - D2 Access Read/Write Effective Instantly PWM Frequency RegisterController Status Register Address Access Read/Write Effective InstantlyFault Condition Controller Identification RegisterCurrent Amps Limit Registers AccessRead Encoder Counter RS232 Encoder Command SetSet/Reset Encoder Counters and Destination Registers RS232 Encoder Command SetSyntax Read Speedq or !Q n AX1500 Motor Controller User’s ManualRead Speed/Distance Read Encoder Limit Switch StatusRead Distance RS232 Encoder Command SetSwitch Important NoteRead / Modify Encoder Module Registers and Parameters SwitchModify parameter RS232 Encoder Command SetAccess AddressEncoder Hardware ID code Switch StatusRegister Description Speed or Distance 1 orDestination Register 1 and Counter Read/Write MailboxCounter 1 and Register DescriptionTime Base 1 and Distance 1 andSpeed 1 and Encoder ThresholdCounter Read Data Format Counter Read Data FormatEncoder Testing and Setting Using the PC Utility DecimalAX1500 Motor Controller User’s Manual Version 1.9b. June 1Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeAX1500 Motor Controller User’s Manual Data Logging Cables 00 11 22 33 44 55 66 77 88 99 AA BB CCAnalog and R/C Modes Data Logging String Format AX1500 Motor Controller User’s ManualDecimal to Hexadecimal Conversion Table Decimal to Hexadecimal Conversion TableAX1500 Motor Controller User’s Manual AX1500 Motor Controller User’s Manual Decimal to Hexadecimal Conversion Table AX1500 Motor Controller User’s ManualAX1500 Motor Controller User’s Manual Version 1.9b. June 1System Requirements SECTION 14 Using the Roborun Configuration UtilityDownloading and Installing the Utility AX1500 Motor Controller User’s ManualUsing the Roborun Configuration Utility Connecting the Controller to the PCAX1500 Motor Controller User’s Manual Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions3- Parameter Selection and Setting and Special Functions 1- Program Revision NumberUsing the Roborun Configuration Utility Getting On-Screen HelpLoading, Changing Controller Parameters 4- File and Program Management Commands3- Input Command Adjustment Control Settings2- Motor Control Mode Loading, Changing Controller Parameters4- Emergency Stop or Invert Switch Select Power SettingsUsing the Roborun Configuration Utility 2- Left/Right Adjust1- Deadband Analog or R/C Specific SettingsLoading, Changing Controller Parameters 2- Joystick TimingUsing the Roborun Configuration Utility Encoder Setting and TestingClosed Loop Parameters AX1500 Motor Controller User’s ManualEncoder Setting and Testing Encoder Module Parameters SettingAX1500 Motor Controller User’s Manual Viewing Encoder Data Running the MotorsExercising the Motors Using the Roborun Configuration Utility1- Run/Stop Button 2- Motor Power settingRunning the Motors 3- Measurement6- Input Status and Output Setting Using the Roborun Configuration Utility4- Real-Time Strip Chart Recorder 5- Transmit and Receive Data8- Joystick Enable Logging Data to DiskRunning the Motors 7- Data Logging and Timer 4- Reset Timer buttonUsing the Roborun Configuration Utility Using the ConsoleConnecting a Joystick Parameter Header1- Terminal Screen Using the Console2- Command Entry 3- Keep Watchdog AliveLoading and Saving Profiles to Disk Operating the AX1500 over a Wired or Wireless LANViewing and Logging Data in Analog and R/C Modes Using the Roborun Configuration Utility 4- Send Reset StringOperating the AX1500 over a Wired or Wireless LAN AX1500 Motor Controller User’s ManualUsing the Roborun Configuration Utility Updating the Controller’s SoftwareUpdating the Encoder Software Important WarningCreating Customized Object Files Creating Customized Object FilesAX1500 Motor Controller User’s Manual AX1500 Motor Controller User’s Manual Using the Roborun Configuration UtilityVersion 1.9b. June 1 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions AX1500 Motor Controller User’s ManualMechanical Specifications Mounting ConsiderationsThermal Considerations AX1500 Motor Controller User’s ManualAttaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisAX1500 Motor Controller User’s Manual Mechanical Specifications Precautions to observeAX1500 Motor Controller User’s Manual Wire Dimensions Wire DimensionsWeight AX1500 Motor Controller User’s ManualAX1500 Motor Controller User’s Manual Mechanical SpecificationsVersion 1.9b. June 1