177 | RoboteQ AX2850 instruction

SECTION 15	Using the Roborun Configuration Utility					177
	System Requirements		177
	Downloading and Installing the Utility 177
	Connecting the Controller to the PC					178
	Roborun Frame, Tab and Menu Descriptions							179
	Getting On-Screen Help			180
	Loading, Changing Controller Parameters						181
	Control Settings	181
	Power Settings	182
	Analog or R/C Specific Settings					183
	Closed Loop Parameters				184
	Encoder Setting and Testing				184
	Encoder Module Parameters Setting						185
	Exercising the Motors			186
	Viewing Encoder Data			186
	Running the Motors	186
	Logging Data to Disk			189
	Connecting a Joystick			190
	Using the Console	191
	Viewing and Logging Data in Analog and R/C Modes								192
	Loading and Saving Profiles to Disk					192
	Operating the AX2550 over a Wired or Wireless LAN								193
	Updating the Controller’s Software					194
	Updating the Encoder Software					195
	Creating Customized Object Files 195
SECTION 16	Mechanical Specifications		197
	Mechanical Dimensions			197
	Mounting Considerations			198
	Thermal Considerations			199
	Attaching the Controller Directly to a Chassis							199
	Wire Dimensions 199
	Weight 200

AX2550 Motor Controller User’s Manual

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RoboteQ AX2850 user manual 177

Contents

AX2550 AX2850 Dual Channel High Power Digital Motor Controller AX2550 Motor Controller User’s Manual Date Version Changes Revision HistoryRevision History AX2550 Motor Controller User’s Manual Section Section Installing, Connecting and Using the Encoder Module 100 127 152 177 AX2550 Motor Controller User’s Manual Beware of Motor Runaway in Improperly Closed Loop Important Safety Important Safety Warnings What you will need Locating the Switches, Wires and ConnectorsAX2550 Quick Start Optical Encoders Program LED Sensors AX2850 only Display AX2550 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 Prog and Set button status Function Powering On the ControllerButton Operation Parameter Default Values Letter Default Controller ConfigurationDefault Controller Configuration Connecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision Number = Software version 1.9b Exploring further Product Description AX2550 Motor Controller Overview Technical features Optical Encoder Inputs AX2850 only Technical featuresLow Power Consumption High Efficiency Motor Power Outputs Sturdy and Compact Mechanical Design Advanced Safety FeaturesData Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower 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 AX2550 with a Main and Backup Supply Connecting the Motors Converting the AX2550 to Single Channel Single Channel Operation MCU Power Fuses Electrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Undervoltage Protection Overvoltage Protection Using the Controller with a Power Supply 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 Selecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control Setting Continuous High Amps User Selected Current Limit SettingsTemperature-Based Current Limitation Motor Current = Battery Current / PWM ratio Battery Current vs. Motor CurrentBattery Current vs. Motor Current Temperature Max Amps Off Regeneration Current Limiting Programmable Acceleration Programmable Acceleration Command Control Curves Exponentiation Parameter Value Selected Curve Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Parameter Value Speed Adjustment Activating Brake Release or Separate Motor Excitation Emergency Shut Down Using Controller SwitchesEmergency Stop using External Switch Activating Brake Release or Separate Motor Excitation Inverted Operation Special Use of Accessory Digital InputsUsing the Inputs to Activate the Buffered Output Self-Test Mode Self-Test Mode Important Warning AX2550 Connections Connecting Sensors and Actuators to Input/OutputsAX2550 Connections Connecting Sensors and Actuators to Input/Outputs AX2550’s Inputs and Outputs Signal Type Use ActivatedAX2550’s Inputs and Outputs List and Pin Assignment Pin1 Connecting devices to Output C Connecting devices to Output C Connecting Switches or Devices to Input E Connecting Switches or Devices to Input F Connecting Switches or Devices to Input F Show how to wire the switch to this input Connecting Switches or Devices to EStop/Invert Input Analog Inputs Connecting Position Potentiometers to Analog InputsAnalog Inputs Ana Ana2 Operating Mode Pin Connecting Tachometer to Analog Inputs Operating Mode Ana 1 p11 Ana2 p10 Ana 3 p12 Ana 4 p8 Connecting Tachometer to Analog Inputs Resistance kOhm Connecting External Thermistor to Analog InputsTemp oC Measured volts = controller reading + 128 * 0.255 Using the Analog Inputs to Monitor External VoltagesConnecting User Devices to Analog Inputs Using the Analog Inputs to Monitor External Voltages Internal Voltage Monitoring Sensors Internal Heatsink Temperature Sensors Temperature Conversion C Source Code Temperature Conversion C Source Code Connecting Sensors and Actuators to Input/Outputs Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical Incremental Encoders Overview Recommended Encoder Types Installing, Connecting and Using the Encoder Mod Pulse Frequency in Hz = RPM / 60 * PPR Installing the Encoder ModuleInstalling the Encoder Module Position of Encoder Module on Controller’s main board Pin Name Cable Color Connecting the EncoderConnecting the Encoder Motor Encoder Polarity Matching Voltage Levels, Thresholds and Limit SwitchesCable Length and Noise Considerations Voltage Levels, Thresholds and Limit Switches Wiring Optional Limit Switches Motor 1 Fwd Motor 1 Rev Wiring Limit Switches Without EncodersEffect of Limit Switches Wiring Limit Switches Without Encoders Motor Fwd Motor Rev Using the Encoder Module to Measure DistanceUsing the Encoder to Measure Speed 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 Sensor Mounting Closed Loop Position ModePosition Sensor Selection Feedback Potentiometer wiring Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode 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 Encoder Error Detection and ProtectionAdding Safety Limit Switches SW1 SW2 Control Loop Description Using Current Limiting as ProtectionUsing Current Limiting as Protection PID tuning in Position Mode PID tuning in Position Mode Closed Loop Position Mode Selecting the Speed Mode Closed Loop Speed Mode Tachometer or Encoder Mounting Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Closed Loop Speed Mode Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity Adjust Offset and Max Speed Control Loop Description PID algorithm used in Speed mode PID tuning in Speed Mode Use of the LED Display Normal Fault Condition LED MessagesUse of the LED Display Possible Display Motor Comment Normal and Fault Condition LED MessagesMotor Direction Status Rapidly Flashing Fault MessagesFault Messages No Control Self-Test Display Temporary FaultsPermanent Faults Self-Test Display = Software version 1.9b 108 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 Input Circuit DescriptionSupplied Cable 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 Transmitter/Receiver Quality Considerations Important Notice about PCM Radios Joystick Deadband Programming Joystick Deadband Programming Joystick Calibration Left/Right Tuning Adjustment Automatic Joystick Calibration Automatic Joystick Calibration Activating the Accessory Outputs Data Logging in R/C Mode Data Logging in R/C Mode 122 Analog Control and Operation Analog Control and Operation Connector I/O Pin Assignment Analog ModePin Input or Number Signal Output Description Connecting to a Voltage Source Connecting to a Voltage SourceConnecting a Potentiometer = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer Value Analog Deadband Adjustment Analog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 130 Use and benefits of RS232 Serial RS-232 Controls OperationUse and benefits of RS232 Serial RS-232 Controls and Operation Connector I/O Pin Assignment RS232 Mode Extending the RS232 Cable Cable configurationCable configuration Establishing Manual Communication with a PC Communication SettingsBits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Roboteq v1.9b 06/01/07 s RS232 Communication with the Encoder ModuleEstablishing Manual Communication with a PC Data Logging String in R/C or Analog mode Entering RS232 from R/C or Analog mode Commands Acknowledge and Error Messages RS-232 Watchdog Controller Commands and QueriesCommand Type Description Controller Commands and Queries Set Motor Command ValueSet Accessory Output Syntax Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel Query Analog Inputs ?m or ?M Query Heatsink TemperaturesQuery Battery Voltages ?r or ?R 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 Exponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Default Encoder Time Base 1 Left/Right Adjust Joystick Min, Max and Center Values Default Encoder Distance DividerDefault PID Gains 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 Bit Model or Function Controller Identification RegisterCurrent Amps Limit Registers Read Encoder Counter RS232 Encoder Command SetSet/Reset Encoder Counters and Destination Registers Or !Q n Read Speed Read Speed/Distance Read Encoder Limit Switch StatusRead Distance DD= parameter value Switch ValueRead / Modify Encoder Module Registers and Parameters 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 Decimal Bit Hex Controller Output Counter Read Data FormatCounter Read Data Format 164 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 Dec Hex Decimal to Hexadecimal Conversion TableDecimal to Hexadecimal Conversion Table UDec Hex AX2550 Motor Controller User’s Manual 169 170 Programming Methods Configuring Controller using SwitchesProgramming using built-in Switches and Display Configuring the Controller using the Switches Entering Programming Mode Special Case of Joystick Calibration Restoring factory defaultsChanging parameters Programmable Parameters List Exiting the Parameter Setting Mode See Order Letter Description Possible Values default PagesProgrammable Parameters List 176 System Requirements Using the Roborun Configuration UtilityDownloading and Installing the Utility Using the Roborun Configuration Utility Connecting the Controller to the PC Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions Getting On-Screen Help Parameter Selection and Setting and Special FunctionsFile and Program Management Commands View Controller Connector Pinout Loading, Changing Controller Parameters Control SettingsMotor Control Mode Loading, Changing Controller Parameters Power Settings Deadband Analog or R/C Specific SettingsLoading, Changing Controller Parameters Left/Right Adjust Acceleration Setting Closed Loop Parameters Encoder Setting and Testing Encoder Setting and Testing Encoder Module Parameters Setting Viewing Encoder Data Running the MotorsExercising the Motors Measurement Motor Power settingRunning the Motors Run/Stop Button Transmit and Receive Data Real-Time Strip Chart RecorderInput Status and Output Setting Logging Data to Disk Parameter Header Data type/range Measured Parameter Connecting a Joystick Terminal Screen Using the ConsoleUsing the Console Command Entry Keep Watchdog Alive Send Reset StringViewing and Logging Data in Analog and R/C Modes Loading and Saving Profiles to Disk Operating the AX2550 over a Wired or Wireless LAN Operating the AX2550 over a Wired or Wireless LAN Updating the Controller’s Software Roboserver screenshot when idle Creating Customized Object Files Creating Customized Object FilesUpdating the Encoder Software Objectmaker creates controller firmware with custom defaults Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mounting Considerations Mechanical Specifications Attaching the Controller Directly to a Chassis Wire DimensionsWire Gauge Outside Diameter Color Length Thermal Considerations Weight