AX1500 Motor Controller User’s Manual 159 | RoboteQ AX2550 guide

Decimal to Hexadecimal Conversion Table

TABLE 31. +128 to 255 unsigned and -1 to -128 signed decimal to hexadecimal conversion table

UDec	Dec	Hex	UDec	Dec	Hex	UDec	Dec	Hex	UDec	Dec	Hex

-121	135	87	-89	167	A7	-57	199	C7	-25	231	E7

-120	136	88	-88	168	A8	-56	200	C8	-24	232	E8

-119	137	89	-87	169	A9	-55	201	C9	-23	233	E9

-118	138	8A	-86	170	AA	-54	202	CA	-22	234	EA

-117	139	8B	-85	171	AB	-53	203	CB	-21	235	EB

-116	140	8C	-84	172	AC	-52	204	CC	-20	236	EC

-115	141	8D	-83	173	AD	-51	205	CD	-19	237	ED

-114	142	8E	-82	174	AE	-50	206	CE	-18	238	EE

-113	143	8F	-81	175	AF	-49	207	CF	-17	239	EF

-112	144	90	-80	176	B0	-48	208	D0	-16	240	F0

-111	145	91	-79	177	B1	-47	209	D1	-15	241	F1

-110	146	92	-78	178	B2	-46	210	D2	-14	242	F2

-109	147	93	-77	179	B3	-45	211	D3	-13	243	F3

-108	148	94	-76	180	B4	-44	212	D4	-12	244	F4

-107	149	95	-75	181	B5	-43	213	D5	-11	245	F5

-106	150	96	-74	182	B6	-42	214	D6	-10	246	F6

-105	151	97	-73	183	B7	-41	215	D7	-9	247	F7

-104	152	98	-72	184	B8	-40	216	D8	-8	248	F8

-103	153	99	-71	185	B9	-39	217	D9	-7	249	F9

-102	154	9A	-70	186	BA	-38	218	DA	-6	250	FA

-101	155	9B	-69	187	BB	-37	219	DB	-5	251	FB

-100	156	9C	-68	188	BC	-36	220	DC	-4	252	FC

-99	157	9D	-67	189	BD	-35	221	DD	-3	253	FD

-98	158	9E	-66	190	BE	-34	222	DE	-2	254	FE

-97	159	9F	-65	191	BF	-33	223	DF	-1	255	FF

AX1500 Motor Controller User’s Manual

159

Image 159

RoboteQ AX2550 user manual AX1500 Motor Controller User’s Manual 159

Contents

Dual Channel Digital Motor Controller AX1500 AX1500 Motor Controller User’s Manual Revision History Revision HistoryDate Version Changes AX1500 Motor Controller User’s Manual Section Section Section 100 122 144 173 AX1500 Motor Controller User’s Manual Important Safety Do not Connect to a RC Radio with a Battery AttachedBeware of Motor Runaway in Improperly Closed Loop Important Safety Warnings What you will need Locating the ConnectorsAX1500 Quick Start AX1500 Controller Rear View AX1500 Quick Start Connecting to the Batteries and Motors Connecting to the Batteries and Motors Signal Pin RC Mode RS232 Mode Analog Mode Connecting to the 15-pin Connector Connecting the R/C Radio Connecting the R/C Radio Powering On the Controller Default Controller ConfigurationParameter Default Values Letter Connecting the controller to your PC using Roborun Connecting the controller to your PC using Roborun Exploring further Obtaining the Controller’s Software Revision Number Product Description AX1500 Motor Controller Overview Technical features Optical Encoder Inputs optional Technical featuresLow Power Consumption High Efficiency Motor Power Outputs Advanced Safety Features Data Logging CapabilitiesCompact Open Frame PCB Design Connecting Power and Motors to the Controller Power ConnectionsPower Connections Connecting Power and Motors to the Controller Controller Power Mended Off Configuration Controller Power Powering the Controller from a single Battery Controller Powering Schemes Controller Powering Schemes Powering the Controller Using a Main and Backup Battery Powering the AX1500 with a Main and Backup Supply Connecting the Motors Converting the AX1500 to Single Channel Single Channel Operation Wire Length Limits Power Fuses Power Regeneration Considerations Electrical Noise Reduction TechniquesElectrical Noise Reduction Techniques Using the Controller with a Power Supply Overvoltage ProtectionUndervoltage 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 Closed Loop Speed Control Close Loop Position ControlSelecting the Motor Control Modes User Selected Current Limit Settings Temperature-Based Current LimitationTemperature Max Amps Battery Current vs. Motor Current Battery Current vs. Motor CurrentMotor Current = Battery Current / PWM ratio Off Regeneration Current Limiting Programmable Acceleration Programmable Acceleration Command Control Curves Left / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Parameter Value Speed Adjustment Activating Brake Release or Separate Motor Excitation Emergency Stop using External SwitchActivating Brake Release or Separate Motor Excitation Inverted Operation Using the Inputs to Activate the Buffered Output Special Use of Accessory Digital Inputs Connecting Sensors and Actuators to Input/Outputs AX1500 ConnectionsAX1500 Connections AX1500’s Inputs and Outputs Connecting Sensors and Actuators to Input/Outputs AX1500’s Inputs and Outputs Signal Type Use Activated List and Pin Assignment Pin1 Connecting devices to Output C Connecting devices to Output C Connecting Switches or Devices to Input F Connecting Switches or Devices to Input E Connecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert Input Analog Inputs Connecting Position Potentiometers to Analog Inputs Connecting Tachometer to Analog Inputs Connecting Tachometer to Analog InputsAna Ana2 Operating Mode Pin Operating Mode Ana 1 p11 Ana2 p10 Ana 3 p12 Ana 4 p8 Resistance kOhm Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Temp oC Using the Analog Inputs to Monitor External Voltages Connecting User Devices to Analog Inputs Internal Heatsink Temperature SensorsInternal Voltage Monitoring Sensors Temperature Conversion C Source Code Internal Heatsink Temperature Sensors Connecting Sensors and Actuators to Input/Outputs Installing Connecting Using Encoder Module Optical Incremental Encoders OverviewOptical Incremental Encoders Overview Recommended Encoder Types Installing, Connecting and Using the Encoder Mod Installing the Encoder Module Installing the Encoder ModulePulse Frequency in Hz = RPM / 60 * PPR Connecting the Encoder Cable Length and Noise Considerations Cable Length and Noise ConsiderationsPin Name Cable Color Motor Encoder Polarity Matching Voltage Levels, Thresholds and Limit Switches Wiring Optional Limit Switches Wiring Optional Limit Switches SW1 SW2 GND Motor 1 Fwd Motor 1 Rev Wiring Limit Switches Without EncodersEffect of Limit Switches Wiring Limit Switches Without Encoders Using the Encoder Module to Measure Distance Using the Encoder to Measure SpeedMotor Fwd Motor Rev Using the Encoder to Track Position Using the Encoder to Track Position Distance = Destination Counter value / Divider RS232 Communication with the Encoder Module Encoder Testing and Setting Using the PC Utility Encoder Testing and Setting Using the PC Utility Installing, Connecting and Using the Encoder Mod Mode Description Closed Loop Position ModeMode Description Selecting the Position Mode Closed Loop Position Mode Position Sensor SelectionSensor Mounting Feedback Potentiometer wiring Feedback Potentiometer wiring in RC or RS232 ModeFeedback Potentiometer wiring Pot wiring for RS232 or RC Command and Analog Feedback Feedback Potentiometer wiring in Analog Mode Analog Feedback on Single Channel Controllers Analog Feedback on Single Channel Controllers Sensor and Motor Polarity Using Optical Encoders in Position Mode Encoder Error Detection and Protection Adding Safety Limit SwitchesEncoder Error Detection and Protection SW1 SW2 Using Current Limiting as Protection Using Current Limiting as ProtectionControl Loop Description PID tuning in Position Mode PID tuning in Position Mode Closed Loop Position Mode Selecting the Speed Mode Closed Loop Speed Mode Tachometer wiring Closed Loop Speed ModeTachometer or Encoder Mounting Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity Adjust Offset and Max Speed PID tuning in Speed Mode PID tuning in Speed Mode Closed Loop Speed Mode Power On LED Normal Fault Condition LED MessagesPower On LED Diagnostic LED Normal and Fault Condition LED Messages Output Off / Fault Condition C Operation C radio control mode Operation Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Pin Input or Number Output Signal Description Input Circuit Description Supplied Cable DescriptionInput Circuit Description RC Cable wiring diagram Powering the Radio from the controller Wiring for powering R/C radio from controller Powering the Radio from the controller Operating the Controller in R/C mode Connecting to a Separately Powered Radio Reception Watchdog Reception Watchdog Joystick Deadband Programming Transmitter/Receiver Quality Considerations Effect of deadband on joystick position vs. motor speed Command Control Curves Left/Right Tuning Adjustment Activating the Accessory OutputsJoystick Calibration Data Logging in R/C Mode Data Logging in R/C Mode 112 Analog Control and Operation Connector I/O Pin Assignment Analog Mode Pin Input or Number Signal Output DescriptionAnalog Control and Operation Connecting to a Voltage Source Connecting a PotentiometerConnecting to a Voltage Source = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer Value Analog Deadband Adjustment Analog Deadband Adjustment Power-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 120 Serial RS-232 Controls Operation Use and benefits of RS232Use and benefits of RS232 Serial RS-232 Controls and Operation Connector I/O Pin Assignment RS232 Mode Cable configuration Cable configurationExtending the RS232 Cable Communication Settings Bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even ParityEstablishing Manual Communication with a PC RS232 Communication with the Encoder Module Establishing Manual Communication with a PCRoboteq v1.9b 06/01/07 s Data Logging String in R/C or Analog mode Entering RS232 from R/C or Analog mode Commands Acknowledge and Error Messages Controller Commands and Queries Command Type DescriptionRS-232 Watchdog Set Motor Command Value Set Accessory OutputController Commands and Queries Query Power Applied to Motors Query Amps from Battery to each Motor ChannelSyntax ?r or ?R Query Heatsink TemperaturesQuery Battery Voltages Query Analog Inputs Query Digital Inputs Reset Controller Read parameter Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Apply Parameter Changes Location Description Active after Flash Configuration Parameters List Value Mode See pages Input Control ModeMotor Control Mode Address Access Read/Write Effective After Reset Bit Definition See pages Amps Limit Acceleration Input Switches Function Address Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Default Encoder Time Base 1 Left/Right Adjust Default Encoder Distance Divider Default PID GainsJoystick Min, Max and Center Values Location Function Reading & Changing Operating Parameters at Runtime Address 82 P1 83 I1 84 D1 85 P2 Operating Modes RegistersRead/Change PID Values Bit Function Controller Status Register PWM Frequency Register Controller Identification Register Current Amps Limit RegistersBit Model or Function RS232 Encoder Command Set Set/Reset Encoder Counters and Destination RegistersRead Encoder Counter Or !Q n Read Speed Read Encoder Limit Switch Status Read DistanceRead Speed/Distance Switch Value Read / Modify Encoder Module Registers and ParametersDD= parameter value Address Parameter Description Size Access Speed or Distance 1 or Switch StatusRegister Description Encoder Hardware ID code Register Description Counter Read/Write MailboxCounter 1 Destination Register 1 Encoder Threshold Distance 1Speed 1 Time Base 1 Counter Read Data Format Counter Read Data FormatDecimal Bit Hex Controller Output 154 Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC Mode Data Logging Cables Analog and R/C Modes Data Logging String Format Decimal to Hexadecimal Conversion Table Decimal to Hexadecimal Conversion TableDec Hex UDec Hex AX1500 Motor Controller User’s Manual 159 160 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements Using the Roborun Configuration Utility Connecting the Controller to the PC Parameter Selection and Setting and Special Functions Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu Descriptions Loading, Changing Controller Parameters File and Program Management CommandsView Controller Connector Pinout Getting On-Screen Help Loading, Changing Controller Parameters Control SettingsMotor Control Mode Input Command Adjustment Power Settings Analog or R/C Specific Settings DeadbandJoystick Timing Closed Loop Parameters Encoder Setting and Testing Encoder Setting and Testing Encoder Module Parameters Setting Running the Motors Exercising the MotorsViewing Encoder Data Measurement Motor Power settingRunning the Motors Run/Stop Button Real-Time Strip Chart Recorder Input Status and Output SettingTransmit and Receive Data Logging Data to Disk Connecting a Joystick Using the Console Keep Watchdog Alive Using the ConsoleCommand Entry Terminal Screen Loading and Saving Profiles to Disk Operating the AX1500 over a Wired or Wireless LANUsing the Roborun Configuration Utility Send Reset String Viewing and Logging Data in Analog and R/C Modes Roboserver screenshot when idle Operating the AX1500 over a Wired or Wireless LAN Updating the Encoder Software Updating the Controller’s Software Creating Customized Object Files Objectmaker creates controller firmware with custom defaults 180 Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a Chassis Precautions to observe Wire Dimensions WeightWire Dimensions 186