RoboteQ AX2550, AX1500 user manual General Operation

SECTION 5	General Operation	39
	Basic Operation	39
	Input Command Modes 39
	Selecting the Motor Control Modes				40
	Open Loop, Separate Speed Control 40
	Open Loop, Mixed Speed Control					40
	Closed Loop Speed Control			41
	Close Loop Position Control			41
	User Selected Current Limit Settings					42
	Temperature-Based Current Limitation					42
	Battery Current vs. Motor Current				43
	Regeneration Current Limiting			44
	Programmable Acceleration		45
	Command Control Curves		46
	Left / Right Tuning Adjustment			47
	Activating Brake Release or Separate Motor Excitation 49
	Emergency Stop using External Switch					49
	Inverted Operation 49

	Special Use of Accessory Digital Inputs			50
	Using the Inputs to Activate the Buffered Output						50
	Using the Inputs to turn Off/On the Power MOSFET
	transistors	50
SECTION 6	Connecting Sensors and Actuators to Input/Outputs					51
	AX1500 Connections 51
	AX1500’s Inputs and Outputs		52
	I/O List and Pin Assignment		54
	Connecting devices to Output C 55
	Connecting Switches or Devices to Input E				56
	Connecting Switches or Devices to Input F				56
	Connecting Switches or Devices to EStop/Invert Input						57
	Analog Inputs	58
	Connecting Position Potentiometers to Analog Inputs						58
	Connecting Tachometer to Analog Inputs				59
	Connecting External Thermistor to Analog Inputs					61
	Using the Analog Inputs to Monitor External Voltages						62
	Connecting User Devices to Analog Inputs				63
	Internal Voltage Monitoring Sensors 63
	Internal Heatsink Temperature Sensors			63
SECTION 7	Installing, Connecting and Using the Encoder Module					67
	Optical Incremental Encoders Overview			67

6 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007