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RoboteQ AX2850 user manual Connecting Power and Motors to the Controller, Power Connections

Models: AX2850

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Power Connections

SECTION 4

Connecting Power and Motors to the Controller

This section describes the AX2550 Controller’s connections to power sources and motors.

Important Warning

Please follow the instructions in this section very carefully. Any problem due to wir- ing errors may have very serious consequences and will not be covered by the prod- uct’s warranty.

Power Connections

The AX2550 has three Ground (black), two Vmot (red) power cables and a Power Control wire (yellow). The power cables are located at the back end of the controller. The various power cables are identified by their position, wire thickness and color: Red is positive (+), black is negative or ground (-).

The power connections to the batteries and motors are shown in the figure below.

AX2550 Motor Controller User’s Manual

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Image 29

RoboteQ AX2850 user manual Connecting Power and Motors to the Controller, Power Connections

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 AX2550 Locating the Switches, Wires and ConnectorsQuick Start What you will need 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 Low Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Optical Encoder Inputs AX2850 only 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 General Operation Input Command ModesBasic Operation Basic Operation Open Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General Operation Selecting 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 ratio 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 Emergency Stop using External Switch Emergency Shut Down Using Controller SwitchesActivating Brake Release or Separate Motor Excitation 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 Connecting User Devices to Analog Inputs Using the Analog Inputs to Monitor External VoltagesUsing the Analog Inputs to Monitor External Voltages Measured volts = controller reading + 128 * 0.255 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 Effect of Limit Switches Wiring Limit Switches Without EncodersWiring Limit Switches Without Encoders Motor 1 Fwd Motor 1 Rev 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 ModeSelecting the Position Mode Mode Description 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 wiring Using Optical Encoder for Speed Feedback AX2850 onlyClosed Loop Speed Mode Tachometer or Encoder Mounting 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 Fault Messages Fault MessagesNo Control Rapidly Flashing Self-Test Display Temporary FaultsPermanent Faults Self-Test Display = Software version 1.9b 108 C Operation C radio control mode Connector I/O Pin Assignment R/C Mode Selecting the R/C Input ModePin Input or Number Output Signal Description Operation 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 Query Amps from Battery to each Motor Channel Query Power Applied to MotorsQuery Analog Inputs Syntax Query Battery Voltages Query Heatsink Temperatures?r or ?R ?m or ?M Query Digital Inputs Reset Controller Accessing & Changing Configuration Parameter in Flash Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameter Location Description Active after Flash Configuration Parameters List Motor Control Mode Input Control ModeAddress Access Read/Write Effective After Reset Value Mode See pages 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 Read/Change PID Values Operating Modes RegistersBit Function Address 82 P1 83 I1 84 D1 85 P2 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 Register Description Switch StatusEncoder Hardware ID code Speed or Distance 1 or Counter 1 Counter Read/Write MailboxDestination Register 1 Register Description Speed 1 Distance 1Time Base 1 Encoder Threshold 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 File and Program Management Commands Parameter Selection and Setting and Special FunctionsView Controller Connector Pinout Getting On-Screen Help Motor Control Mode Control SettingsLoading, Changing Controller Parameters Loading, Changing Controller Parameters Power Settings Loading, Changing Controller Parameters Left/Right Adjust Analog or R/C Specific SettingsAcceleration Setting Deadband Closed Loop Parameters Encoder Setting and Testing Encoder Setting and Testing Encoder Module Parameters Setting Viewing Encoder Data Running the MotorsExercising the Motors Running the Motors Motor Power settingRun/Stop Button Measurement 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 Using the Console Using the ConsoleCommand Entry Terminal Screen Viewing and Logging Data in Analog and R/C Modes Send Reset StringLoading and Saving Profiles to Disk Keep Watchdog Alive 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 Wire Gauge Outside Diameter Color Length Wire DimensionsThermal Considerations Attaching the Controller Directly to a Chassis Weight