RS232 Communication with the Encoder Module | RoboteQ AX2850

Establishing Manual Communication with a PC

COM1port. You can easily change this setting to a different port from the program’s menus.

Note that starting with version 1.9, the Roborun PC utility also includes a Terminal Emula- tion Console for communicating with the controller using raw data. See “Using the Con- sole” on page 191.

In all cases, immediately after reset or power up, the controller will output a short identity message followed by a software revision number and software revision date as follows:

Roboteq v1.9b 06/01/07 s

The letter below the prompt message is a code that provides information on the hardware and can be ignored.

If in R/C or Analog mode, type the Enter key 10 times to switch to RS232 mode and display the OK prompt

FIGURE 91. Power-on message appearing on Hyperterm

RS232 Communication with the Encoder Module

The Encoder Module contains its own Microcontroller and firmware in Flash. The Encoder’s MCU communicates with the one on the main board of the controller. During normal operations, the two MCUs exchange information as needed, transparently to the user.

During a short time at power up, however, the Encoder’s MCU will send data to the main serial port.

The sent data is a separate prompt message which:

•Announces the presence of the encoder MCU

•Outputs its software revision and date

•Outputs a code identifying the module’s hardware ID

The serial port settings are described in “Serial (RS-232) Controls and Operation” on page 131.

AX2550 Motor Controller User’s Manual

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RoboteQ AX2850 user manual RS232 Communication with the Encoder Module, Establishing Manual Communication with a PC

Contents

AX2550 AX2850 Dual Channel High Power Digital Motor Controller AX2550 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 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 Powering 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 further Product Description AX2550 Motor Controller Overview Technical features Optical Encoder Inputs AX2850 only Technical featuresLow Power Consumption High Efficiency Motor Power Outputs Advanced 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 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 Wire Length Limits Power Regeneration ConsiderationsElectrical Noise Reduction Techniques 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 Closed 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 Amps Off Regeneration Current Limiting Programmable Acceleration Programmable Acceleration Command 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 Excitation Special Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered OutputInverted Operation Self-Test Mode Self-Test Mode Important 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 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 Connecting Position Potentiometers to Analog Inputs 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 Connecting 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 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 Installing Connecting Using Encoder Module Optical Incremental Encoders OverviewOptical Incremental Encoders Overview Recommended Encoder Types Installing, Connecting and Using the Encoder Mod Installing 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 Encoders Using 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 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 Closed 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 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 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 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 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 Control Temporary Faults Permanent FaultsSelf-Test Display 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 Supplied Cable DescriptionInput Circuit 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 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 Value Analog Deadband Adjustment Analog Deadband Adjustment Power-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 130 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 Mode Cable 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 mode Commands 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 ?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 Address Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Default Encoder Time Base 1 Left/Right Adjust Default Encoder Distance Divider Default PID GainsJoystick Min, Max and Center Values 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 Controller 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 Speed Read 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 code Register Description Counter Read/Write MailboxCounter 1 Destination Register 1 Encoder Threshold Distance 1Speed 1 Time Base 1 Counter 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 Mode Data Logging Cables Analog and R/C Modes Data Logging String Format Decimal 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 Mode Restoring factory defaults Changing parametersSpecial Case of Joystick Calibration Programmable Parameters List Exiting the Parameter Setting Mode Order 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 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 Running the Motors Exercising the MotorsViewing Encoder Data Measurement Motor Power settingRunning the Motors Run/Stop Button Real-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 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 Updating the Encoder SoftwareCreating Customized Object Files Objectmaker creates controller firmware with custom defaults Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mounting Considerations Mechanical Specifications Attaching the Controller Directly to a Chassis Wire DimensionsWire Gauge Outside Diameter Color Length Thermal Considerations Weight