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RoboteQ AX2850 user manual Section

Models: AX2850

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	Revision History	3
SECTION 1	Important Safety Warnings			13
	This product is intended for use with rechargeable batteries 13
	Do not Connect to a RC Radio with a Battery Attached							13
	Beware of Motor Runaway in Improperly Closed Loop							13
SECTION 2	AX2550
	Quick Start 15
	What you will need		15
	Locating the Switches, Wires and Connectors					15
	Connecting to the Batteries and Motors 17
	Connecting to the 15-pin Connector 18
	Connecting the R/C Radio			19
	Powering On the Controller 20
	Button Operation	20
	Default Controller Configuration				21
	Connecting the controller to your PC using Roborun						22
	Obtaining the Controller’s Software Revision Number						23
	Exploring further	24
SECTION 3	AX2550 Motor Controller Overview				25
	Product Description		25
	Technical features	26
SECTION 4	Connecting Power and Motors to the Controller					29
	Power Connections		29
	Controller Power	30

Controller Powering Schemes 32

Powering the Controller from a single Battery 32

Powering the Controller Using a Main and Backup Battery 33

Connecting the Motors 34

Single Channel Operation 35

Converting the AX2550 to Single Channel 35

Power Fuses 36
Wire Length Limits 37
Electrical Noise Reduction Techniques		37
Power Regeneration Considerations		37
Overvoltage Protection	38
Undervoltage Protection	38

Using the Controller with a Power Supply 39

AX2550 Motor Controller User’s Manual

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RoboteQ AX2850 user manual Section

Contents

AX2550 AX2850 Dual Channel High Power Digital Motor ControllerAX2550 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 SafetyImportant Safety Warnings AX2550 Locating the Switches, Wires and ConnectorsQuick Start What you will needOptical 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 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 Number= Software version 1.9b Exploring furtherProduct Description AX2550 Motor Controller OverviewTechnical features Low Power Consumption Technical featuresHigh 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 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 FusesElectrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Undervoltage Protection Overvoltage ProtectionUsing the Controller with a Power Supply Using the Controller with a Power SupplyConnecting Power and Motors to the Controller General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen 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 ratioOff Regeneration Current LimitingProgrammable Acceleration Programmable AccelerationCommand 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 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 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 InputAnalog Inputs Connecting Position Potentiometers to 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 InputsResistance 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 * 0.255Internal Voltage Monitoring Sensors Internal Heatsink Temperature 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 Recommended Encoder Types Installing, Connecting and Using the Encoder ModPulse 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 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 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 ModeSelecting 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 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 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 ModeTachometer wiring Using Optical Encoder for Speed Feedback AX2850 onlyClosed Loop Speed Mode Tachometer or Encoder MountingSpeed 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 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 Self-Test Display = Software version 1.9b108 C Operation C radio control modeConnector I/O Pin Assignment R/C Mode Selecting the R/C Input ModePin Input or Number Output Signal Description OperationInput Circuit Description Input Circuit DescriptionSupplied Cable 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 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 ValueAnalog Deadband Adjustment Analog Deadband AdjustmentData Logging in Analog Mode Power-On SafetyUnder Voltage Safety Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode130 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 ModeExtending 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 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 Amps from Battery to each Motor Channel Query Power Applied to MotorsQuery Analog Inputs SyntaxQuery Battery Voltages Query Heatsink Temperatures?r or ?R ?m or ?MQuery Digital Inputs Reset ControllerAccessing & Changing Configuration Parameter in Flash Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameterLocation Description Active after Flash Configuration Parameters ListMotor Control Mode Input Control ModeAddress Access Read/Write Effective After Reset Value Mode See pagesBit Definition See pages Amps LimitAcceleration Input Switches FunctionExponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Default Encoder Time Base 1 Left/Right AdjustJoystick Min, Max and Center Values Default Encoder Distance DividerDefault PID Gains Location Function Reading & Changing Operating Parameters at RuntimeRead/Change PID Values Operating Modes RegistersBit Function Address 82 P1 83 I1 84 D1 85 P2Controller Status Register PWM Frequency RegisterBit 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 SpeedRead 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 orCounter 1 Counter Read/Write MailboxDestination Register 1 Register DescriptionSpeed 1 Distance 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 ModeData Logging Cables Analog and R/C Modes Data Logging String FormatDec 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 ModeSpecial Case of Joystick Calibration Restoring factory defaultsChanging parameters Programmable Parameters List Exiting the Parameter Setting ModeSee 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 PCRoborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu DescriptionsFile and Program Management Commands Parameter Selection and Setting and Special FunctionsView Controller Connector Pinout Getting On-Screen HelpMotor Control Mode Control SettingsLoading, Changing Controller Parameters Loading, Changing Controller ParametersPower Settings Loading, Changing Controller Parameters Left/Right Adjust Analog or R/C Specific SettingsAcceleration Setting DeadbandClosed Loop Parameters Encoder Setting and TestingEncoder Setting and Testing Encoder Module Parameters SettingViewing Encoder Data Running the MotorsExercising the Motors Running the Motors Motor Power settingRun/Stop Button MeasurementTransmit 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 JoystickUsing the Console Using the ConsoleCommand Entry Terminal ScreenViewing and Logging Data in Analog and R/C Modes Send Reset StringLoading and Saving Profiles to Disk Keep Watchdog AliveOperating 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 Creating Customized Object FilesUpdating the Encoder Software Objectmaker creates controller firmware with custom defaults Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mounting Considerations Mechanical SpecificationsWire Gauge Outside Diameter Color Length Wire DimensionsThermal Considerations Attaching the Controller Directly to a ChassisWeight