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RoboteQ AX2850 user manual 164

Models: AX2850

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164

AX2550 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

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RoboteQ AX2850 user manual 164

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 Locating the Switches, Wires and Connectors AX2550Quick Start 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 Technical features Low Power ConsumptionHigh Efficiency Motor Power Outputs 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 Input Command Modes General OperationBasic Operation Basic OperationSelecting the Motor Control Modes Open Loop, Separate Speed ControlOpen Loop, Mixed 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 Battery Current vs. Motor Current Battery Current vs. Motor CurrentTemperature Max Amps 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 Emergency Shut Down Using Controller Switches Emergency Stop using External SwitchActivating Brake Release or Separate Motor Excitation 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 Connecting User Devices to Analog InputsUsing the Analog Inputs to Monitor External Voltages 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 Effect of Limit SwitchesWiring Limit Switches Without Encoders 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 Closed Loop Position Mode Mode DescriptionSelecting the Position Mode 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 ModeUsing Optical Encoder for Speed Feedback AX2850 only Tachometer wiringClosed Loop Speed Mode 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 Fault Messages Fault MessagesNo Control Rapidly FlashingSelf-Test Display Temporary FaultsPermanent Faults = Software version 1.9b Self-Test Display108 C radio control mode C OperationSelecting the R/C Input Mode Connector I/O Pin Assignment R/C ModePin Input or Number Output Signal Description 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 Power Applied to Motors Query Amps from Battery to each Motor ChannelQuery Analog Inputs SyntaxQuery Heatsink Temperatures Query Battery Voltages?r or ?R ?m or ?MReset Controller Query Digital InputsAccessing & Changing Configuration Parameter in Flash Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameterFlash Configuration Parameters List Location Description Active afterInput Control Mode Motor Control ModeAddress Access Read/Write Effective After Reset 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 FunctionOperating Modes Registers Read/Change PID ValuesBit Function 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 Switch Status Register DescriptionEncoder Hardware ID code Speed or Distance 1 orCounter Read/Write Mailbox Counter 1Destination Register 1 Register DescriptionDistance 1 Speed 1Time Base 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 DescriptionsParameter Selection and Setting and Special Functions File and Program Management CommandsView Controller Connector Pinout Getting On-Screen HelpControl Settings Motor Control ModeLoading, Changing Controller Parameters Loading, Changing Controller ParametersPower Settings Analog or R/C Specific Settings Loading, Changing Controller Parameters Left/Right AdjustAcceleration Setting DeadbandEncoder Setting and Testing Closed Loop ParametersEncoder Module Parameters Setting Encoder Setting and TestingViewing Encoder Data Running the MotorsExercising the Motors Motor Power setting Running the MotorsRun/Stop Button 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 ParameterUsing the Console Using the ConsoleCommand Entry Terminal ScreenSend Reset String Viewing and Logging Data in Analog and R/C ModesLoading and Saving Profiles to Disk 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 ConsiderationsWire Dimensions Wire Gauge Outside Diameter Color LengthThermal Considerations Attaching the Controller Directly to a ChassisWeight