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RoboteQ AX2850 user manual Important Warning

Models: AX2850

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General Operation

•Encoder Speed or Position if module is installed

The entire string is repeated every 208 or 224 milliseconds (depending whether the encoder module is present) with the latest internal parameter values. This information can be logged using the Roborun Utility (see “Viewing and Logging Data in Analog and R/C Modes” on page 192).

The string and data format is described in “Analog and R/C Modes Data Logging String For- mat” on page 166.

Important Warning

Disconnect the Motor Power (thick red wires) from the battery and power the con- troller by applying 12V on the Power Control input if you do not wish the motors to be activated while in Self Test mode.

This could be the case if you only wish to use the Self Test sequence to read the software revision number or to monitor the joystick capture.

54

AX2550 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 54

RoboteQ AX2850 user manual Important Warning

Contents

Dual Channel High Power Digital Motor Controller AX2550 AX2850AX2550 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 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 RadioPowering 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 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 onlyAdvanced Safety Features Data Logging CapabilitiesSturdy and Compact Mechanical Design Connecting Power and Motors to the Controller Power ConnectionsPower 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 MCUWire Length Limits Power Regeneration ConsiderationsElectrical Noise Reduction Techniques 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 OperationClosed Loop Speed Control Close Loop Position ControlSelecting the Motor Control Modes User Selected Current Limit Settings Temperature-Based Current LimitationSetting Continuous High Amps 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 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 ExcitationSpecial Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered OutputInverted Operation Self-Test Mode Self-Test ModeImportant 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 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 inputConnecting Position Potentiometers to Analog Inputs 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 p8Connecting External Thermistor to Analog Inputs Temp oCResistance kOhm 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 Installing Connecting Using Encoder Module Optical Incremental Encoders OverviewOptical Incremental Encoders Overview Installing, Connecting and Using the Encoder Mod Recommended Encoder TypesInstalling 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 Wiring Limit Switches Without Encoders Wiring Limit Switches Without EncodersEffect of Limit Switches Motor 1 Fwd Motor 1 RevUsing 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 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 DescriptionClosed Loop Position Mode Position Sensor SelectionSensor Mounting Feedback Potentiometer wiring Feedback Potentiometer wiring in RC or RS232 ModeFeedback Potentiometer wiring 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 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 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 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 No Control Fault MessagesFault Messages Rapidly FlashingTemporary Faults Permanent FaultsSelf-Test Display = 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 Supplied Cable DescriptionInput Circuit 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 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentPower-On Safety Under Voltage SafetyData Logging in Analog Mode Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC130 Serial RS-232 Controls Operation Use and benefits of RS232Use and benefits of RS232 Connector I/O Pin Assignment RS232 Mode Serial RS-232 Controls and OperationCable 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 Entering RS232 from R/C or Analog mode Data Logging String in R/C or Analog modeCommands Acknowledge and Error Messages Controller Commands and Queries Command Type DescriptionRS-232 Watchdog Set Motor Command Value Set Accessory OutputController Commands and Queries 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 AccelerationAddress Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Left/Right Adjust Default Encoder Time Base 1Default Encoder Distance Divider Default PID GainsJoystick Min, Max and Center Values 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 RegisterController Identification Register Current Amps Limit RegistersBit Model or Function RS232 Encoder Command Set Set/Reset Encoder Counters and Destination RegistersRead Encoder Counter Read Speed Or !Q nRead Encoder Limit Switch Status Read DistanceRead Speed/Distance Switch Value Read / Modify Encoder Module Registers and ParametersDD= parameter value 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 ThresholdCounter 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 ModeAnalog and R/C Modes Data Logging String Format Data Logging CablesDecimal 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 Entering Programming Mode Configuring the Controller using the SwitchesRestoring factory defaults Changing parametersSpecial Case of Joystick Calibration Exiting the Parameter Setting Mode Programmable Parameters ListOrder Letter Description Possible Values default Pages Programmable Parameters ListSee 176 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements 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 TestingRunning the Motors Exercising the MotorsViewing Encoder Data Run/Stop Button Motor Power settingRunning the Motors MeasurementReal-Time Strip Chart Recorder Input Status and Output SettingTransmit and Receive Data 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 Updating the Encoder SoftwareCreating Customized Object Files Objectmaker creates controller firmware with custom defaults Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Wire DimensionsWire Gauge Outside Diameter Color Length Attaching the Controller Directly to a ChassisWeight