Main
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Revision History
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SECTION 1
SECTION 2
SECTION 3
SECTION 4
SECTION 5
SECTION 6
SECTION 7
SECTION 8
SECTION 9
SECTION 10
SECTION 11
SECTION 12
SECTION 13
SECTION 14
SECTION 15
SECTION 16
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SECTION 1 Important Safety
Warnings
Read this Section First
This product is intended for use with rechargeable batteries
Do not Connect to a RC Radio with a Battery Attached
Beware of Motor Runaway in Improperly Closed Loop
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Quick Start
What you will need
Locating the Switches, Wires and Connectors
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Connecting to the Batteries and Motors
Connecting to the 15-pin Connector
Connecting the R/C Radio
Powering On the Controller
Button Operation
Default Controller Configuration
Connecting the controller to your PC using Roborun
Obtaining the Controllers Software Revision Number
Exploring further
= Software version 1.9b
SECTION 3 AX2550 Motor
Controller Overview
Product Description
Technical features
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Controller Power
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Controller Powering Schemes
Powering the Controller from a single Battery
Powering the Controller Using a Main and Backup Battery
Connecting the Motors
Single Channel Operation
Converting the AX2550 to Single Channel
Power Fu ses
Wire Length Limits
Electrical Noise Reduction Techniques
Power Regeneration Considerations
Overvoltage Protection
Undervoltage Protection
Using the Controller with a Power Supply
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Operation
Basic Operation
Input Command Modes
Selecting the Motor Control Modes
Open Loop, Separate Speed Control
Open Loop, Mixed Speed Control
Closed Loop Speed Control
Close Loop Position Control
User Selected Current Limit Settings
Temperature-Based Current Limitation
Position Sensor Gear box
Position Feedback
Battery Current vs. Motor Current
Regeneration Current Limiting
Off
On
Programmable Acceleration
Command Control Curves
Left / Right Tuning Adjustment
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Activating Brake Release or Separate Motor Excitation
Emergency Shut Down Using Controller Switches
Emergency Stop using External Switch
Inverted Operation
Special Use of Accessory Digital Inputs
Using the Inputs to Activate the Buffered Output
Using the Inputs to turn Off/On the Power MOSFET transistors
Self-Test Mode
= Software version 1.9b
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AX2550s Inputs and Outputs
I/O List and Pin Assignment
Connecting devices to Output C
Connecting Switches or Devices to Input E
Connecting Switches or Devices to Input F
Connecting Switches or Devices to EStop/Invert Input
Analog Inputs
Connecting Position Potentiometers to Analog Inputs
Connecting Tachometer to Analog Inputs
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Connecting External Thermistor to Analog Inputs
Using the Analog Inputs to Monitor External Voltages
Connecting User Devices to Analog Inputs
Internal Voltage Monitoring Sensors
Internal Heatsink Temperature Sensors
AX2550 Motor Controller Users Manual 69
Temperature Conversion C Source Code
FIGURE 39. Analog reading by controller vs. internal heat sink temperature
Temperature Conversion C Source Code
Reported Analog Value
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SECTION 7 Installing,
Connecting and Using the Encoder Module
Optical Incremental Encoders Overview
Recommended Encoder Types
Installing the Encoder Module
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Connecting the Encoder
Cable Length and Noise Considerations
Motor - Encoder Polarity Matching
Voltage Levels, Thresholds and Limit Switches
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Wiring Optional Limit Switches
Wiring Limit Switches Without Encoders
Effect of Limit Switches
Using the Encoder Module to Measure Distance
Using the Encoder to Measure Speed
Using the Encoder to Track Position
RS232 Communication with the Encoder Module
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SECTION 8 Closed Loop
Position Mode
Selecting the Position Mode
Position Sensor Selection
Sensor Mounting
Position Sensor Gear box
Position Feedback
Important Notice:
Feedback Potentiometer wiring
Feedback Potentiometer wiring in RC or RS232 Mode
Feedback Potentiometer wiring in Analog Mode
Analog Feedback on Single Channel Controllers
Feedback Wiring in RC or RS232 Mode on Single Channel Controllers
Feedback Wiring in Analog Mode on Single Channel Controllers
Using Optical Encoders in Position Mode
Sensor and Motor Polarity
Important Safety Warning
Encoder Error Detection and Protection
Adding Safety Limit Switches
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Using Current Limiting as Protection
Control Loop Description
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PID tuning in Position Mode
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SECTION 9 Closed Loop
Speed Mode
Selecting the Speed Mode
Using Optical Encoder for Speed Feedback (AX2850 only)
Tachometer or Encoder Mounting
Tachometer wiring
Speed Sensor and Motor Polarity
Adjust Offset and Max Speed
Control Loop Description
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PID tuning in Speed Mode
Fault Condition LED Messages
Use of the LED Display
Motor Direction Status
Fault Messages
No Control
MOSFET Transistors are OFF
Temporary Faults
Permanent Faults
Self-Test Display
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SECTION 11 R/C Operation
Selecting the R/C Input Mode
Connector I/O Pin Assignment (R/C Mode)
Pin1 8
15
9
R/C Input Circuit Description
Supplied Cable Description
Powering the Radio from the controller
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Connecting to a Separately Powered Radio
Operating the Controller in R/C mode
Reception Watchdog
Important Notice about PCM Radios
R/C Transmitter/Receiver Quality Considerations
Joystick Deadband Programming
Command Control Curves
Left/Right Tuning Adjustment
Joystick Calibration
Automatic Joystick Calibration
Activating the Accessory Outputs
Data Logging in R/C Mode
R/C Operation
122 AX2550 Motor Controller Users Manual Version 1.9b. June 1, 2007
FIGURE 82. Modified R/C cable with RS232 output for data logging to a PC
SECTION 12 Analog Control
and Operation
Connector I/O Pin Assignment (Analog Mode)
Connecting to a Voltage Source
Connecting a Potentiometer
Selecting the Potentiometer Value
Analog Deadband Adjustment
Power-On Safety
Under Voltage Safety
Data Logging in Analog Mode
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Controls and Operation
Use and benefits of RS232
Connector I/O Pin Assignment (RS232 Mode)
Cable configuration
TX Data
Extending the RS232 Cable
RX Data Data Out Data In GNDGND
DB9 Female To PC
Communication Settings
TX Data
9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity
Establishing Manual Communication with a PC
RX Data Data Out Data In GNDGND
RS232 Communication with the Encoder Module
Entering RS232 from R/C or Analog mode
Data Logging String in R/C or Analog mode
RS232 Mode if default
Commands Acknowledge and Error Messages
Character Echo
Command Acknowledgement
Command Error
RS-232 Watchdog
Controller Commands and Queries
Set Motor Command Value
Set Accessory Output
Query Power Applied to Motors
Query Amps from Battery to each Motor Channel
Query Analog Inputs
Query Heatsink Temperatures
Query Battery Voltages
Query Digital Inputs
Reset Controller
Accessing & Changing Configuration Parameter in Flash
Apply Parameter Changes
Flash Configuration Parameters List
Input Control Mode
Motor Control Mode
Amps Limit
Acceleration
Input Switches Function
RC Joystick or Analog Deadband
Exponentiation on Channel 1 and Channel 2
Left/Right Adjust
Default Encoder Time Base 1 and 2
Default Encoder Distance Divider
Default PID Gains
Joystick Min, Max and Center Values
Reading & Changing Operating Parameters at Runtime
Important Notice:
Operating Modes Registers
Read/Change PID Values
PWM Frequency Register
Controller Status Register
Controller Identification Register
Current Amps Limit Registers
RS232 Encoder Command Set
Read Encoder Counter
Set/Reset Encoder Counters and Destination Registers
Read Speed
Read Distance
Read Speed/Distance
Read Encoder Limit Switch Status
Read / Modify Encoder Module Registers and Parameters
Important Note
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Register Description
Encoder Hardware ID code
Switch Status
Speed or Distance 1 or 2
Counter Read/Write Mailbox
Counter 1 and 2
Destination Register 1 and 2
Distance 1 and 2
Speed 1 and 2
Time Base 1 and 2
Encoder Threshold
Distance Divider
Counter Read Data Format
Encoder Testing and Setting Using the PC Utility
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Automatic Switching from RS232 to RC Mode
: 00 11 22 33 44 55 66 77 88 99 AA BB CC
Analog and R/C Modes Data Logging String Format
Data Logging Cables
Decimal to Hexadecimal Conversion Table
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SECTION 14 Configuring the
Controller using the Switches
Programming Methods
Programming using built-in Switches and Display
Entering Programming Mode
Changing parameters
The Special Case of Joystick Calibration
Restoring factory defaults
Exiting the Parameter Setting Mode
Programmable Parameters List
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Configuration Utility
System Requirements
Downloading and Installing the Utility
Connecting the Controller to the PC
Roborun Frame, Tab and Menu Descriptions
Getting On-Screen Help
Loading, Changing Controller Parameters
Control Settings
Power Settings
Analog or R/C Specific Settings
Closed Loop Parameters
Encoder Setting and Testing
Encoder Module Parameters Setting
Exercising the Motors
Viewing Encoder Data
Running the Motors
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Logging Data to Disk
Connecting a Joystick
Using the Console
Viewing and Logging Data in Analog and R/C Modes
Loading and Saving Profiles to Disk
Operating the AX2550 over a Wired or Wireless LAN
Updating the Controllers Software
Updating the Encoder Software
Creating Customized Object Files
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Mounting Considerations
Thermal Considerations
Attaching the Controller Directly to a Chassis
Wire Dimensions
Weight