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RoboteQ AX2850 user manual 122

Models: AX2850

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R/C Operation

DB9 Female	DB15 Male
To PC	To Controller
1		1
1
6	9	2 RS232 Data Out
RX Data 2		2 RS232 Data Out
7	10	3	R/C Ch 1
3		3
3
8	11	4	R/C Ch 2
4		4
4
9	12	5 GND
GND 5		5 GND
	13

	6	R/C GND
		R/C GND
14	7
	7	R/C +5V
		R/C +5V
15	8
	8

FIGURE 82. Modified R/C cable with RS232 output for data logging to a PC

122

AX2550 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 122

RoboteQ AX2850 user manual 122

Contents

Dual Channel High Power Digital Motor Controller AX2550 AX2850AX2550 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 Important Safety Beware of Motor Runaway in Improperly Closed LoopImportant Safety Warnings Quick Start Locating the Switches, Wires and ConnectorsAX2550 What you will needAX2550 Quick Start Optical Encoders Program LED Sensors AX2850 only DisplayConnecting to the Batteries and Motors Connecting to the Batteries and MotorsConnecting to the 15-pin Connector Signal Pin RC Mode RS232 Mode Analog ModeConnecting the R/C Radio Connecting the R/C RadioProg 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 NumberExploring further = Software version 1.9bAX2550 Motor Controller Overview Product DescriptionTechnical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Optical Encoder Inputs AX2850 onlySturdy and Compact Mechanical Design Advanced Safety FeaturesData Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Controller Power Connecting Power and Motors to the ControllerController Power Mended Off ConfigurationController Powering Schemes Powering the Controller from a single BatteryPowering the Controller Using a Main and Backup Battery Controller Powering SchemesConnecting the Motors Powering the AX2550 with a Main and Backup SupplySingle Channel Operation Converting the AX2550 to Single ChannelPower Fuses MCUElectrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Overvoltage Protection Undervoltage 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 OperationOpen Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General OperationSelecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control Setting Continuous High Amps User Selected Current Limit SettingsTemperature-Based Current Limitation Temperature Max Amps Battery Current vs. Motor CurrentBattery Current vs. Motor Current Motor Current = Battery Current / PWM ratioRegeneration Current Limiting OffProgrammable Acceleration Programmable AccelerationCommand 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 ExcitationInverted Operation Special Use of Accessory Digital InputsUsing the Inputs to Activate the Buffered Output Self-Test Mode Self-Test ModeImportant 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 Pin1 List and Pin AssignmentConnecting 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 FConnecting Switches or Devices to EStop/Invert Input Show how to wire the switch to this inputAnalog Inputs Connecting Position Potentiometers to Analog InputsAnalog Inputs Connecting Tachometer to Analog Inputs Ana Ana2 Operating Mode PinConnecting Tachometer to Analog Inputs Operating Mode Ana 1 p11 Ana2 p10 Ana 3 p12 Ana 4 p8Resistance kOhm Connecting External Thermistor to Analog InputsTemp oC Using the Analog Inputs to Monitor External Voltages Using the Analog Inputs to Monitor External VoltagesConnecting User Devices to Analog Inputs Measured volts = controller reading + 128 * 0.255Internal Heatsink Temperature Sensors Internal Voltage Monitoring SensorsTemperature Conversion C Source Code Temperature Conversion C Source CodeConnecting Sensors and Actuators to Input/Outputs Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical Incremental Encoders Overview Installing, Connecting and Using the Encoder Mod Recommended Encoder TypesPulse 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 Wiring Limit Switches Without Encoders Wiring Limit Switches Without EncodersEffect of Limit Switches Motor 1 Fwd Motor 1 RevMotor 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 PositionRS232 Communication with the Encoder Module Distance = Destination Counter value / DividerEncoder Testing and Setting Using the PC Utility Encoder Testing and Setting Using the PC UtilityInstalling, Connecting and Using the Encoder Mod Selecting the Position Mode Closed Loop Position ModeMode Description Mode DescriptionSensor Mounting Closed Loop Position ModePosition Sensor Selection Feedback Potentiometer wiring Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiring in Analog Mode Pot wiring for RS232 or RC Command and Analog FeedbackAnalog Feedback on Single Channel Controllers Analog Feedback on Single Channel ControllersUsing Optical Encoders in Position Mode Sensor and Motor PolarityEncoder 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 Closed Loop Speed Mode Selecting the Speed ModeClosed Loop Speed Mode Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Tachometer or Encoder MountingSpeed Sensor and Motor Polarity Speed Sensor and Motor PolarityAdjust Offset and Max Speed PID algorithm used in Speed mode Control Loop DescriptionPID 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 No Control Fault MessagesFault Messages Rapidly FlashingSelf-Test Display Temporary FaultsPermanent Faults = Software version 1.9b Self-Test Display108 C radio control mode C OperationPin Input or Number Output Signal Description Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode OperationInput Circuit Description Input Circuit DescriptionSupplied Cable Description Powering the Radio from the controller RC Cable wiring diagramPowering the Radio from the controller Wiring for powering R/C radio from controllerConnecting to a Separately Powered Radio Operating the Controller in R/C modeReception Watchdog Reception WatchdogImportant Notice about PCM Radios Transmitter/Receiver Quality ConsiderationsJoystick Deadband Programming Joystick Deadband ProgrammingLeft/Right Tuning Adjustment Joystick CalibrationAutomatic Joystick Calibration Automatic Joystick CalibrationActivating the Accessory Outputs Data Logging in R/C Mode Data Logging in R/C Mode122 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentData Logging in Analog Mode Power-On SafetyUnder Voltage Safety Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC130 Use and benefits of RS232 Serial RS-232 Controls OperationUse and benefits of RS232 Connector I/O Pin Assignment RS232 Mode Serial RS-232 Controls and OperationExtending 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 Entering RS232 from R/C or Analog mode Data Logging String in R/C or Analog modeCommands Acknowledge and Error Messages RS-232 Watchdog Controller Commands and QueriesCommand Type Description Controller Commands and Queries Set Motor Command ValueSet Accessory Output Query Analog Inputs Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel Syntax?r or ?R Query Heatsink TemperaturesQuery Battery Voltages ?m or ?MReset Controller Query Digital InputsApply Parameter Changes Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Read parameterFlash Configuration Parameters List Location Description Active afterAddress Access Read/Write Effective After Reset Input Control ModeMotor Control Mode Value Mode See pagesAmps Limit Bit Definition See pagesInput Switches Function AccelerationExponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Left/Right Adjust Default Encoder Time Base 1Joystick Min, Max and Center Values Default Encoder Distance DividerDefault PID Gains Reading & Changing Operating Parameters at Runtime Location FunctionBit Function Operating Modes RegistersRead/Change PID Values Address 82 P1 83 I1 84 D1 85 P2PWM Frequency Register Controller Status RegisterBit Model or Function Controller Identification RegisterCurrent Amps Limit Registers Read Encoder Counter RS232 Encoder Command SetSet/Reset Encoder Counters and Destination Registers Read Speed Or !Q nRead Speed/Distance Read Encoder Limit Switch StatusRead Distance DD= parameter value Switch ValueRead / Modify Encoder Module Registers and Parameters Address Parameter Description Size Access Encoder Hardware ID code Switch StatusRegister Description Speed or Distance 1 orDestination Register 1 Counter Read/Write MailboxCounter 1 Register DescriptionTime Base 1 Distance 1Speed 1 Encoder ThresholdDecimal 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 ModeAnalog and R/C Modes Data Logging String Format Data Logging CablesDec 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 Entering Programming Mode Configuring the Controller using the SwitchesSpecial Case of Joystick Calibration Restoring factory defaultsChanging parameters Exiting the Parameter Setting Mode Programmable Parameters ListSee Order Letter Description Possible Values default PagesProgrammable Parameters List 176 System Requirements Using the Roborun Configuration UtilityDownloading and Installing the Utility Connecting the Controller to the PC Using the Roborun Configuration UtilityRoborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu DescriptionsView Controller Connector Pinout Parameter Selection and Setting and Special FunctionsFile and Program Management Commands Getting On-Screen HelpLoading, Changing Controller Parameters Control SettingsMotor Control Mode Loading, Changing Controller ParametersPower Settings Acceleration Setting Analog or R/C Specific SettingsLoading, Changing Controller Parameters Left/Right Adjust DeadbandEncoder Setting and Testing Closed Loop ParametersEncoder Module Parameters Setting Encoder Setting and TestingViewing Encoder Data Running the MotorsExercising the Motors Run/Stop Button Motor Power settingRunning the Motors MeasurementTransmit and Receive Data Real-Time Strip Chart RecorderInput Status and Output Setting Logging Data to Disk Connecting a Joystick Parameter Header Data type/range Measured ParameterCommand Entry Using the ConsoleUsing the Console Terminal ScreenLoading and Saving Profiles to Disk Send Reset StringViewing and Logging Data in Analog and R/C Modes Keep Watchdog AliveOperating the AX2550 over a Wired or Wireless LAN Operating the AX2550 over a Wired or Wireless LANRoboserver screenshot when idle Updating the Controller’s SoftwareCreating Customized Object Files Creating Customized Object FilesUpdating the Encoder Software Objectmaker creates controller firmware with custom defaults Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Wire DimensionsWire Gauge Outside Diameter Color Length Attaching the Controller Directly to a ChassisWeight