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RoboteQ AX1500, AX2550 Closed Loop Speed Mode, Selecting the Speed Mode, Mode Description

Models: AX2550 AX1500

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Closed Loop Speed Mode

Mode Description

SECTION 9

Closed Loop Speed Mode

This section discusses the AX1500 Close Loop Speed mode.

Mode Description

In this mode, an analog or digital speed sensor measures the actual motor speed and com- pares it to the desired speed. If the speed changes because of changes in load, the control- ler automatically compensates the power output. This mode is preferred in precision motor control and autonomous robotic applications.

The AX1500 incorporates a full-featured Proportional, Integral, Differential (PID) control algorithm for quick and stable speed control.

Selecting the Speed Mode

The speed mode is selected by changing the Motor Control parameter in the controller to either:

•A and B Closed Loop Speed, Separate

•A and B Closed Loop Speed, Mixed

•A Closed Loop Speed, B Position

Note that in the last selection, only the first motor will operate in the Closed Loop Speed mode.

Changing the parameter to select this mode is done using the Roborun Utility. See “Load- ing, Changing Controller Parameters” on page 164.

Using Optical Encoder for Speed FeedbackDigital Optical Encod-

ers may be used to capture accurate motor speed. This capability is only available on con- trollers fitted with the optional encoder module.

AX1500 Motor Controller User’s Manual

93

Image 93

RoboteQ Closed Loop Speed Mode, Selecting the Speed Mode, Mode Description, AX1500 Motor Controller User’s Manual

Contents

Dual Channel Digital Motor Controller AX1500User’s Manual Version 1.9b. June 1 AX1500 Motor Controller User’s ManualRevision History Revision HistoryDate VersionVersion 1.9b. June 1 AX1500 Motor Controller User’s ManualRevision History General Operation Recommended Encoder Types SECTION Connector I/O Pin Assignment RS232 Mode Controller Identification Register Logging Data to Disk Version 1.9b. June 1 AX1500 Motor Controller User’s ManualAvoid Shorts when Mounting Board against Chassis Important SafetyDo not Connect to a RC Radio with a Battery Attached WarningsImportant Safety Warnings AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 AX1500 Locating the ConnectorsQuick Start What you will needAX1500 Motor Controller User’s Manual AX1500 Quick StartConnecting to the Batteries and Motors Connecting to the Batteries and MotorsAX1500 Motor Controller User’s Manual Important Warning Connecting to the 15-pin ConnectorSignal RC ModeConnecting the R/C Radio Connecting the R/C RadioImportant Warning AX1500 Motor Controller User’s ManualDefault Controller Configuration Powering On the ControllerDefault Values AX1500 Quick StartConnecting the controller to your PC using Roborun Connecting the controller to your PC using RoborunAX1500 Motor Controller User’s Manual Exploring further Obtaining the Controller’s Software Revision NumberAX1500 Quick Start AX1500 Motor Controller User’s ManualSECTION 3AX1500 Motor Controller Overview Product DescriptionAX1500 Motor Controller User’s Manual Multiple Command Modes Technical featuresAutomatic Joystick Command Corrections AX1500 Motor Controller OverviewLow Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Optical Encoder Inputs optionalAX1500 Motor Controller Overview Advanced Safety FeaturesData Logging Capabilities Compact Open Frame PCB DesignPower Connections Connecting Power and Motors to the ControllerPower Connections Important WarningController Power Connecting Power and Motors to the ControllerAX1500 Motor Controller User’s Manual Power Control input is Controller PowerAnd Main Battery mended Off ConfigurationPowering the Controller from a single Battery Controller Powering SchemesConnecting Power and Motors to the Controller Power Control input isController Powering Schemes Powering the Controller Using a Main and Backup BatteryImportant Warning AX1500 Motor Controller User’s ManualConnecting Power and Motors to the Controller Connecting the MotorsImportant Warning Important WarningConverting the AX1500 to Single Channel Single Channel OperationSingle Channel Operation AX1500 Motor Controller User’s ManualWire Length Limits Power FusesConnecting Power and Motors to the Controller Important WarningElectrical Noise Reduction Techniques Power Regeneration ConsiderationsImportant Warning Electrical Noise Reduction TechniquesOvervoltage Protection Using the Controller with a Power SupplyUndervoltage Protection Connecting Power and Motors to the ControllerAX1500 Motor Controller User’s Manual Using the Controller with a Power SupplyConnecting Power and Motors to the Controller AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationClose Loop Position Control Closed Loop Speed ControlSelecting the Motor Control Modes AX1500 Motor Controller User’s ManualTemperature-Based Current Limitation User Selected Current Limit SettingsTemperature Position Feedback Position Sensor Gear boxBattery Current vs. Motor Current Battery Current vs. Motor CurrentMotor Current = Battery Current / PWM ratio AX1500 Motor Controller User’s ManualMotor Current = Battery Current / PWM Ratio Regeneration Current LimitingImportant Warning General OperationSetting Using Programmable AccelerationSetting Using SwitchesSetting Using Command Control CurvesSetting Using SwitchesLeft / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected CurveSpeed Adjustment Speed AdjustmentGeneral Operation Parameter ValueActivating Brake Release or Separate Motor Excitation Emergency Stop using External SwitchInverted Operation Speed AdjustmentUsing the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsUsing the Inputs to turn Off/On the Power MOSFET transistors General OperationAX1500 Connections Connecting Sensors and Actuators to Input/OutputsAX1500 Connections AX1500 Motor Controller User’s ManualAX1500’s Inputs and Outputs Connecting Sensors and Actuators to Input/OutputsAX1500 Motor Controller User’s Manual AX1500’s Inputs and Outputs SignalI/O type ActivatedI/O List and Pin Assignment Pin1Connecting Sensors and Actuators to Input/Outputs Signal dependingConnecting devices to Output C Connecting devices to Output CSignal depending on ModeConnecting Switches or Devices to Input F Connecting Switches or Devices to Input EImportant warning 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 Analog Inputs Connecting Position Potentiometers to Analog InputsConnecting Sensors and Actuators to Input/Outputs AX1500 Motor Controller User’s ManualConnecting Tachometer to Analog Inputs Connecting Tachometer to Analog InputsOperating Mode Important WarningOperating Mode Connecting Sensors and Actuators to Input/OutputsImportant Warning Ana 1 p11Connecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhmUsing the Analog Inputs to Monitor External Voltages Connecting Sensors and Actuators to Input/OutputsAX1500 Motor Controller User’s Manual Internal Heatsink Temperature Sensors Connecting User Devices to Analog InputsInternal Voltage Monitoring Sensors Connecting User Devices to Analog InputsConnecting Sensors and Actuators to Input/Outputs Temperature Conversion C Source CodeAX1500 Motor Controller User’s Manual ValueAX1500 Motor Controller User’s Manual Internal Heatsink Temperature Sensorselse LoTemp = i * 5Connecting Sensors and Actuators to Input/Outputs AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 Optical Incremental Encoders Overview Installing Connecting and Using the Encoder ModuleOptical Incremental Encoders Overview AX1500 Motor Controller User’s ManualRecommended Encoder Types Installing, Connecting and Using the Encoder ModAX1500 Motor Controller User’s Manual Installing the Encoder Module Installing the Encoder ModulePulse Frequency in Hz = RPM / 60 * PPR AX1500 Motor Controller User’s ManualConnecting the Encoder Installing, Connecting and Using the Encoder ModAX1500 Motor Controller User’s Manual Cable Length and Noise Considerations Cable Length and Noise ConsiderationsName Cable ColorMotor - Encoder Polarity Matching Voltage Levels, Thresholds and Limit SwitchesInstalling, Connecting and Using the Encoder Mod Important WarningWiring Optional Limit Switches Wiring Optional Limit SwitchesImportant Warning AX1500 Motor Controller User’s ManualInstalling, Connecting and Using the Encoder Mod When the switch is activated, the module’s input is pulled toAX1500 Motor Controller User’s Manual Effect of Limit Switches Wiring Limit Switches Without EncodersWiring Limit Switches Without Encoders Motor 1 FwdUsing the Encoder to Measure Speed Using the Encoder Module to Measure DistanceInstalling, Connecting and Using the Encoder Mod Motor 2 FwdImportant Notice Using the Encoder to Track PositionUsing the Encoder to Track Position AX1500 Motor Controller User’s ManualInstalling, Connecting and Using the Encoder Mod RS232 Communication with the Encoder ModuleImportant Notice 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 Installing, Connecting and Using the Encoder Mod AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 Mode Description Closed Loop Position ModeSelecting the Position Mode Mode DescriptionSensor Mounting Position Sensor SelectionClosed Loop Position Mode Position Feedback Position Sensor Gear boxFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiringFeedback Potentiometer wiring Important NoticeClosed Loop Position Mode Feedback Potentiometer wiring in Analog ModeImportant Notice AX1500 Motor Controller User’s ManualFeedback Wiring in Analog Mode on Single Channel Controllers Feedback Wiring in RC or RS232 Mode on Single Channel ControllersAnalog Feedback on Single Channel Controllers Important NoticeSensor and Motor Polarity Using Optical Encoders in Position ModeClosed Loop Position Mode Important WarningEncoder Error Detection and Protection Important Safety WarningAdding Safety Limit Switches Encoder Error Detection and ProtectionClosed Loop Position Mode FIGURE 53. Safety limit switches interrupting power to motorsAX1500 Motor Controller User’s Manual Control Loop Description Using Current Limiting as ProtectionUsing Current Limiting as Protection Important WarningPID tuning in Position Mode Closed Loop Position ModeAX1500 Motor Controller User’s Manual PID tuning in Position Mode Applied Power = Command Value - Actual Position * Proportional GainAX1500 Motor Controller User’s Manual Closed Loop Position Mode AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 Selecting the Speed Mode Closed Loop Speed ModeUsing Optical Encoder for Speed FeedbackDigital Optical Encod Mode DescriptionTachometer or Encoder Mounting Tachometer wiringClosed Loop Speed Mode AX1500 Motor Controller User’s ManualImportant Warning Speed Sensor and Motor PolaritySpeed Sensor and Motor Polarity AX1500 Motor Controller User’s ManualClosed Loop Speed Mode Adjust Offset and Max SpeedImportant Warning Control Loop DescriptionPID tuning in Speed Mode PID tuning in Speed ModeAX1500 Motor Controller User’s Manual Closed Loop Speed Mode 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 stabilityAX1500 Motor Controller User’s Manual Power On LED Normal and Fault Condition LED MessagesDiagnostic LED Normal Operation Flashing PatternOutput Off / Fault Condition Normal and Fault Condition LED MessagesAX1500 Motor Controller User’s Manual Mode Description SECTION 11 R/C OperationMode Description AX1500 Motor Controller User’s ManualConnector I/O Pin Assignment R/C Mode Selecting the R/C Input ModeSignal Pin1Supplied Cable Description R/C Input Circuit DescriptionSignal R/C Input Circuit DescriptionFIGURE 64. RC Cable wiring diagram Powering the Radio from the controllerR/C Operation FIGURE 65. RC connection cable3 Channel 1 Command Pulses 4 Channel 2 Command Pulses Powering the Radio from the controller6 Radio battery - Ground 7 Radio battery + 8 Channel 3 Command Pulses Wire loop bringing power from controller to RC radioOperating the Controller in R/C mode Connecting to a Separately Powered RadioR/C Operation AX1500 Motor Controller User’s ManualReception Watchdog Reception WatchdogAX1500 Motor Controller User’s Manual R/C Transmitter/Receiver Quality Considerations Important Notice about PCM RadiosJoystick Deadband Programming R/C OperationCommand Control Curves Command Control CurvesDeadband Parameter Value Deadband as Percent of full Joystick TravelActivating the Accessory Outputs Left/Right Tuning AdjustmentJoystick Calibration R/C OperationData Logging in R/C Mode Data Logging in R/C ModeAX1500 Motor Controller User’s Manual AX1500 Motor Controller User’s Manual R/C OperationDB15 Male To ControllerMode Description Analog Control and OperationMode Description Important NoticeSignal Connector I/O Pin Assignment Analog ModePin1 Analog Control and OperationConnecting a Potentiometer Connecting to a Voltage SourceConnecting to a Voltage Source AX1500 Motor Controller User’s ManualImportant Notice Selecting the Potentiometer ValueAnalog Deadband Adjustment Under Voltage Safety Power-On SafetyData Logging in Analog Mode Motor Power at 0%AX1500 Motor Controller User’s Manual Data Logging in Analog ModeAnalog Control and Operation AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 Use and benefits of RS232 Serial RS-232 Controls and OperationUse and benefits of RS232 AX1500 Motor Controller User’s ManualSignal Connector I/O Pin Assignment RS232 ModePin1 Serial RS-232 Controls and OperationExtending the RS232 Cable Cable configurationCable configuration AX1500 Motor Controller User’s Manual9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Communication SettingsEstablishing Manual Communication with a PC Serial RS-232 Controls and OperationEstablishing Manual Communication with a PC RS232 Communication with the Encoder ModuleRoboteq v1.9b 06/01/07 s AX1500 Motor Controller User’s ManualData Logging String in R/C or Analog mode Entering RS232 from R/C or Analog modeSerial RS-232 Controls and Operation AX1500 Motor Controller User’s ManualRS232 Mode if default Commands Acknowledge and Error MessagesCommand Acknowledgement Command ErrorRS-232 Watchdog Controller Commands and QueriesCommand Serial RS-232 Controls and OperationSet Accessory Output Set Motor Command ValueController Commands and Queries CommandQuery Amps from Battery to each Motor Channel Query Power Applied to MotorsImportant Notice Important NoticeQuery Battery Voltages Query Heatsink TemperaturesQuery Analog Inputs Controller Commands and QueriesQuery Digital Inputs Reset ControllerSerial RS-232 Controls and Operation SyntaxApply Parameter Changes Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Read parameterSerial RS-232 Controls and Operation Flash Configuration Parameters ListLocation DescriptionMotor Control Mode Input Control ModeAccessing & Changing Configuration Parameter in Flash AccessAccess Amps LimitAfter Reset or FF Serial RS-232 Controls and OperationAcceleration Input Switches FunctionAccessing & Changing Configuration Parameter in Flash AccessExponentiation on Channel 1 and Channel RC Joystick or Analog DeadbandAccess After Reset or FFDefault Encoder Time Base 1 and Left/Right AdjustAccessing & Changing Configuration Parameter in Flash AccessDefault PID Gains Default Encoder Distance DividerJoystick Min, Max and Center Values AccessReading & Changing Operating Parameters at Runtime Reading & Changing Operating Parameters at Runtime1C - Joystick Max 2 MS 1D - Joystick Max 2 LS Effective Instantly DefinitionRead/Change PID Values Operating Modes RegistersAccess Important NoticeController Status Register PWM Frequency Register87 - D2 Access Read/Write Effective Instantly Address Access Read/Write Effective InstantlyCurrent Amps Limit Registers Controller Identification RegisterFault Condition AccessSet/Reset Encoder Counters and Destination Registers RS232 Encoder Command SetRead Encoder Counter RS232 Encoder Command Setq or !Q n Read SpeedSyntax AX1500 Motor Controller User’s ManualRead Distance Read Encoder Limit Switch StatusRead Speed/Distance RS232 Encoder Command SetRead / Modify Encoder Module Registers and Parameters Important NoteSwitch SwitchAccess RS232 Encoder Command SetModify parameter AddressRegister Description Switch StatusEncoder Hardware ID code Speed or Distance 1 orCounter 1 and Counter Read/Write MailboxDestination Register 1 and Register DescriptionSpeed 1 and Distance 1 andTime Base 1 and Encoder ThresholdEncoder Testing and Setting Using the PC Utility Counter Read Data FormatCounter Read Data Format DecimalVersion 1.9b. June 1 AX1500 Motor Controller User’s ManualAutomatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeAX1500 Motor Controller User’s Manual Analog and R/C Modes Data Logging String Format 00 11 22 33 44 55 66 77 88 99 AA BB CCData Logging Cables 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 AX1500 Motor Controller User’s Manual Decimal to Hexadecimal Conversion TableVersion 1.9b. June 1 AX1500 Motor Controller User’s ManualDownloading and Installing the Utility SECTION 14 Using the Roborun Configuration UtilitySystem Requirements AX1500 Motor Controller User’s ManualConnecting the Controller to the PC Using the Roborun Configuration UtilityAX1500 Motor Controller User’s Manual 3- Parameter Selection and Setting and Special Functions Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu Descriptions 1- Program Revision NumberLoading, Changing Controller Parameters Getting On-Screen HelpUsing the Roborun Configuration Utility 4- File and Program Management Commands2- Motor Control Mode Control Settings3- Input Command Adjustment Loading, Changing Controller ParametersUsing the Roborun Configuration Utility Power Settings4- Emergency Stop or Invert Switch Select 2- Left/Right AdjustLoading, Changing Controller Parameters Analog or R/C Specific Settings1- Deadband 2- Joystick TimingClosed Loop Parameters Encoder Setting and TestingUsing the Roborun Configuration Utility AX1500 Motor Controller User’s ManualEncoder Module Parameters Setting Encoder Setting and TestingAX1500 Motor Controller User’s Manual Exercising the Motors Running the MotorsViewing Encoder Data Using the Roborun Configuration UtilityRunning the Motors 2- Motor Power setting1- Run/Stop Button 3- Measurement4- Real-Time Strip Chart Recorder Using the Roborun Configuration Utility6- Input Status and Output Setting 5- Transmit and Receive DataRunning the Motors 7- Data Logging and Timer Logging Data to Disk8- Joystick Enable 4- Reset Timer buttonConnecting a Joystick Using the ConsoleUsing the Roborun Configuration Utility Parameter Header2- Command Entry Using the Console1- Terminal Screen 3- Keep Watchdog AliveViewing and Logging Data in Analog and R/C Modes Operating the AX1500 over a Wired or Wireless LANLoading and Saving Profiles to Disk Using the Roborun Configuration Utility 4- Send Reset StringAX1500 Motor Controller User’s Manual Operating the AX1500 over a Wired or Wireless LANUpdating the Encoder Software Updating the Controller’s SoftwareUsing the Roborun Configuration Utility Important WarningCreating Customized Object Files Creating Customized Object FilesAX1500 Motor Controller User’s Manual Using the Roborun Configuration Utility AX1500 Motor Controller User’s ManualVersion 1.9b. June 1 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions AX1500 Motor Controller User’s ManualThermal Considerations Mounting ConsiderationsMechanical Specifications AX1500 Motor Controller User’s ManualAttaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisAX1500 Motor Controller User’s Manual Precautions to observe Mechanical SpecificationsAX1500 Motor Controller User’s Manual Weight Wire DimensionsWire Dimensions AX1500 Motor Controller User’s ManualMechanical Specifications AX1500 Motor Controller User’s ManualVersion 1.9b. June 1