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RoboteQ AX2850 user manual Input Circuit Description, Supplied Cable Description

Models: AX2850

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R/C Input Circuit Description

TABLE 19. Connector pin-out in R/C mode

Pin	Input or
Number	Output	Signal	Description

8	Digital In	R/C: Ch 3 / Ana In 4	R/C radio Channel 3 pulses - (Not available when
			encoder module present)

10	Analog in	Ana in 2	Channel 2 speed or position feedback input

11	Analog in	Ana in 1	Channel 1 speed or position feedback input

12	Analog in	Ana in 3	Unused

14	Power Out	+5V	+5V Power Output (100mA max.)

15	Input	Input EStop/Inv	Emergency Stop or Invert Switch input

R/C Input Circuit Description

The AX2550 R/C inputs are directly connected to the MCU logic. Figure 70 shows an elec- trical representation of the R/C input circuit.

+5V Output

R/C Channel 1

14

3

Controller Power

R/C Channel 2

4

MCU

R/C Channel 3

8

5-13

Controller

Ground

FIGURE 70. AX2550 R/C Input equivalent circuit

Supplied Cable Description

The AX2550 is delivered with a custom cable with the following wiring diagram:

AX2550 Motor Controller User’s Manual

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Image 111

RoboteQ AX2850 user manual Input Circuit Description, Supplied Cable Description

Contents

AX2550 AX2850 Dual Channel High Power Digital Motor ControllerAX2550 Motor Controller User’s Manual Revision History Revision HistoryDate Version Changes 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 SafetyImportant Safety Warnings What you will need Locating the Switches, Wires and ConnectorsAX2550 Quick StartOptical Encoders Program LED Sensors AX2850 only Display AX2550 Quick StartConnecting to the Batteries and Motors Connecting to the Batteries and MotorsSignal Pin RC Mode RS232 Mode Analog Mode Connecting to the 15-pin ConnectorConnecting the R/C Radio Connecting the R/C RadioPowering On the Controller Button OperationProg and Set button status Function Default Controller Configuration Default Controller ConfigurationParameter Default Values Letter 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 furtherProduct Description AX2550 Motor Controller OverviewTechnical features Optical Encoder Inputs AX2850 only Technical featuresLow Power Consumption High Efficiency Motor Power OutputsAdvanced Safety Features Data Logging CapabilitiesSturdy and Compact Mechanical Design Connecting Power and Motors to the Controller Power ConnectionsPower Connections Connecting Power and Motors to the Controller Controller PowerMended Off Configuration Controller PowerPowering the Controller from a single Battery Controller Powering SchemesController Powering Schemes Powering the Controller Using a Main and Backup BatteryPowering the AX2550 with a Main and Backup Supply Connecting the MotorsConverting the AX2550 to Single Channel Single Channel OperationMCU Power FusesWire Length Limits Power Regeneration ConsiderationsElectrical Noise Reduction Techniques Undervoltage Protection Overvoltage ProtectionUsing the Controller with a Power Supply Using the Controller with a Power SupplyConnecting Power and Motors to the Controller Basic Operation Input Command ModesGeneral Operation Basic OperationGeneral Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed ControlClosed Loop Speed Control Close Loop Position ControlSelecting the Motor Control Modes User Selected Current Limit Settings Temperature-Based Current LimitationSetting Continuous High Amps Motor Current = Battery Current / PWM ratio Battery Current vs. Motor CurrentBattery Current vs. Motor Current Temperature Max AmpsOff Regeneration Current LimitingProgrammable Acceleration Programmable AccelerationCommand 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 Shut Down Using Controller SwitchesEmergency Stop using External Switch Activating Brake Release or Separate Motor ExcitationSpecial Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered OutputInverted Operation Self-Test Mode Self-Test ModeImportant Warning Connecting Sensors and Actuators to Input/Outputs AX2550 ConnectionsAX2550 Connections Connecting Sensors and Actuators to Input/Outputs Signal Type Use Activated AX2550’s Inputs and OutputsAX2550’s Inputs and Outputs List and Pin Assignment Pin1Connecting devices to Output C Connecting devices to Output CConnecting Switches or Devices to Input E Connecting Switches or Devices to Input F Connecting Switches or Devices to Input FShow how to wire the switch to this input Connecting Switches or Devices to EStop/Invert InputConnecting Position Potentiometers to Analog Inputs Analog InputsAnalog Inputs Ana Ana2 Operating Mode Pin Connecting Tachometer to Analog InputsOperating Mode Ana 1 p11 Ana2 p10 Ana 3 p12 Ana 4 p8 Connecting Tachometer to Analog InputsConnecting External Thermistor to Analog Inputs Temp oCResistance kOhm 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 VoltagesInternal Voltage Monitoring Sensors Internal Heatsink Temperature SensorsTemperature Conversion C Source Code Temperature Conversion C Source CodeConnecting 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 ModInstalling the Encoder Module Installing the Encoder ModulePulse Frequency in Hz = RPM / 60 * PPR Position of Encoder Module on Controller’s main board Connecting the Encoder Connecting the EncoderPin Name Cable Color Voltage Levels, Thresholds and Limit Switches Cable Length and Noise ConsiderationsMotor Encoder Polarity Matching 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 EncodersUsing 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 PositionDistance = Destination Counter value / Divider RS232 Communication with the Encoder ModuleEncoder Testing and Setting Using the PC Utility Encoder Testing and Setting Using the PC UtilityInstalling, Connecting and Using the Encoder Mod Mode Description Closed Loop Position ModeMode Description Selecting the Position ModeClosed 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 ModeAnalog Feedback on Single Channel Controllers Analog Feedback on Single Channel ControllersSensor and Motor Polarity Using Optical Encoders in Position ModeEncoder 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 ModeTachometer or Encoder Mounting Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Closed Loop Speed ModeSpeed Sensor and Motor Polarity Speed Sensor and Motor PolarityAdjust Offset and Max Speed Control Loop Description PID algorithm used in Speed modePID tuning in Speed Mode Normal Fault Condition LED Messages Use of the LED DisplayUse of the LED Display Normal and Fault Condition LED Messages Motor Direction StatusPossible Display Motor Comment Rapidly Flashing Fault MessagesFault Messages No ControlTemporary Faults Permanent FaultsSelf-Test Display Self-Test Display = Software version 1.9b108 C Operation C radio control modeOperation Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Pin Input or Number Output Signal DescriptionInput Circuit Description Supplied Cable DescriptionInput Circuit Description RC Cable wiring diagram Powering the Radio from the controllerWiring for powering R/C radio from controller Powering the Radio from the controllerOperating the Controller in R/C mode Connecting to a Separately Powered RadioReception Watchdog Reception WatchdogTransmitter/Receiver Quality Considerations Important Notice about PCM RadiosJoystick Deadband Programming Joystick Deadband ProgrammingJoystick Calibration Left/Right Tuning AdjustmentAutomatic Joystick Calibration Automatic Joystick CalibrationActivating the Accessory Outputs Data Logging in R/C Mode Data Logging in R/C Mode122 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 ValueAnalog Deadband Adjustment Analog Deadband AdjustmentPower-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode130 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 ModeCable 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 modeCommands Acknowledge and Error Messages Controller Commands and Queries Command Type DescriptionRS-232 Watchdog Set Motor Command Value Set Accessory OutputController Commands and Queries 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 ?RQuery Digital Inputs Reset ControllerRead parameter Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Apply Parameter ChangesLocation Description Active after Flash Configuration Parameters ListValue Mode See pages Input Control ModeMotor Control Mode Address Access Read/Write Effective After ResetBit Definition See pages Amps LimitAcceleration Input Switches FunctionAddress Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Default Encoder Time Base 1 Left/Right AdjustDefault Encoder Distance Divider Default PID GainsJoystick Min, Max and Center Values Location Function Reading & Changing Operating Parameters at RuntimeAddress 82 P1 83 I1 84 D1 85 P2 Operating Modes RegistersRead/Change PID Values Bit FunctionController Status Register PWM Frequency RegisterController 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 SpeedRead 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 codeRegister Description Counter Read/Write MailboxCounter 1 Destination Register 1Encoder Threshold Distance 1Speed 1 Time Base 1Counter Read Data Format Counter Read Data FormatDecimal Bit Hex Controller Output 164 Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeData Logging Cables Analog and R/C Modes Data Logging String FormatDecimal to Hexadecimal Conversion Table Decimal to Hexadecimal Conversion TableDec Hex UDec Hex AX2550 Motor Controller User’s Manual 169 170 Configuring Controller using Switches Programming using built-in Switches and DisplayProgramming Methods Configuring the Controller using the Switches Entering Programming ModeRestoring factory defaults Changing parametersSpecial Case of Joystick Calibration Programmable Parameters List Exiting the Parameter Setting ModeOrder Letter Description Possible Values default Pages Programmable Parameters ListSee 176 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements Using the Roborun Configuration Utility Connecting the Controller to the PCRoborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu DescriptionsGetting On-Screen Help Parameter Selection and Setting and Special FunctionsFile and Program Management Commands View Controller Connector PinoutLoading, Changing Controller Parameters Control SettingsMotor Control Mode Loading, Changing Controller ParametersPower Settings Deadband Analog or R/C Specific SettingsLoading, Changing Controller Parameters Left/Right Adjust Acceleration SettingClosed Loop Parameters Encoder Setting and TestingEncoder Setting and Testing Encoder Module Parameters SettingRunning the Motors Exercising the MotorsViewing Encoder Data Measurement Motor Power settingRunning the Motors Run/Stop ButtonReal-Time Strip Chart Recorder Input Status and Output SettingTransmit and Receive Data Logging Data to Disk Parameter Header Data type/range Measured Parameter Connecting a JoystickTerminal Screen Using the ConsoleUsing the Console Command EntryKeep Watchdog Alive Send Reset StringViewing and Logging Data in Analog and R/C Modes Loading and Saving Profiles to DiskOperating the AX2550 over a Wired or Wireless LAN Operating the AX2550 over a Wired or Wireless LANUpdating the Controller’s Software Roboserver screenshot when idleCreating Customized Object Files Updating the Encoder SoftwareCreating Customized Object Files Objectmaker creates controller firmware with custom defaults Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mounting Considerations Mechanical SpecificationsAttaching the Controller Directly to a Chassis Wire DimensionsWire Gauge Outside Diameter Color Length Thermal ConsiderationsWeight