Important Warning | RoboteQ AX2850 guide

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 AX2850 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 Important Safety Beware of Motor Runaway in Improperly Closed Loop Important Safety Warnings Quick Start Locating the Switches, Wires and ConnectorsAX2550 What you will need AX2550 Quick Start Optical Encoders Program LED Sensors AX2850 only Display Connecting to the Batteries and Motors Connecting to the Batteries and Motors Connecting to the 15-pin Connector Signal Pin RC Mode RS232 Mode Analog Mode 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 Exploring further = Software version 1.9b AX2550 Motor Controller Overview Product Description Technical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Optical Encoder Inputs AX2850 only Advanced 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 Controller Controller Power Mended Off Configuration Controller Powering Schemes Powering the Controller from a single Battery Powering the Controller Using a Main and Backup Battery Controller Powering Schemes Connecting the Motors Powering the AX2550 with a Main and Backup Supply Single Channel Operation Converting the AX2550 to Single Channel Power Fuses MCU Wire Length Limits Power Regeneration ConsiderationsElectrical Noise Reduction Techniques Overvoltage Protection Undervoltage 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 Open Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General Operation Closed 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 ratio Regeneration Current Limiting Off 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 Pin1 List and Pin Assignment 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 Connecting Switches or Devices to EStop/Invert Input Show how to wire the switch to this input Connecting Position Potentiometers to Analog Inputs Analog InputsAnalog Inputs Connecting Tachometer to Analog 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 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 * 0.255 Internal Heatsink Temperature Sensors Internal Voltage Monitoring 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 Installing, Connecting and Using the Encoder Mod Recommended Encoder Types 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 Wiring Limit Switches Without Encoders Wiring Limit Switches Without EncodersEffect of Limit Switches Motor 1 Fwd Motor 1 Rev 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 RS232 Communication with the Encoder Module Distance = Destination Counter value / Divider Encoder Testing and Setting Using the PC Utility Encoder Testing and Setting Using the PC Utility Installing, Connecting and Using the Encoder Mod Selecting the Position Mode Closed Loop Position ModeMode Description Mode Description Closed 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 Feedback Analog Feedback on Single Channel Controllers Analog Feedback on Single Channel Controllers Using Optical Encoders in Position Mode Sensor and Motor Polarity 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 Closed Loop Speed Mode Selecting the Speed Mode Closed Loop Speed Mode Using Optical Encoder for Speed Feedback AX2850 onlyTachometer wiring Tachometer or Encoder Mounting Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity Adjust Offset and Max Speed PID algorithm used in Speed mode Control Loop Description 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 No Control Fault MessagesFault Messages Rapidly Flashing Temporary Faults Permanent FaultsSelf-Test Display = Software version 1.9b Self-Test Display 108 C radio control mode C Operation Pin Input or Number Output Signal Description Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Operation Input Circuit Description Supplied Cable DescriptionInput Circuit Description Powering the Radio from the controller RC Cable wiring diagram Powering the Radio from the controller Wiring for powering R/C radio from controller Connecting to a Separately Powered Radio Operating the Controller in R/C mode Reception Watchdog Reception Watchdog Important Notice about PCM Radios Transmitter/Receiver Quality Considerations Joystick Deadband Programming Joystick Deadband Programming Left/Right Tuning Adjustment Joystick Calibration 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mA Analog Deadband Adjustment Analog Deadband Adjustment Power-On Safety Under Voltage SafetyData Logging in Analog Mode Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC 130 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 Operation 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 Entering RS232 from R/C or Analog mode Data Logging String in 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 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 ?M Reset Controller Query Digital Inputs Apply Parameter Changes Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Read parameter Flash Configuration Parameters List Location Description Active after Address Access Read/Write Effective After Reset Input Control ModeMotor Control Mode Value Mode See pages Amps Limit Bit Definition See pages Input Switches Function Acceleration Address Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Left/Right Adjust Default Encoder Time Base 1 Default Encoder Distance Divider Default PID GainsJoystick Min, Max and Center Values Reading & Changing Operating Parameters at Runtime Location Function Bit Function Operating Modes RegistersRead/Change PID Values Address 82 P1 83 I1 84 D1 85 P2 PWM Frequency Register Controller Status Register Controller 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 n 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 Encoder Hardware ID code Switch StatusRegister Description Speed or Distance 1 or Destination Register 1 Counter Read/Write MailboxCounter 1 Register Description Time Base 1 Distance 1Speed 1 Encoder Threshold 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 Analog and R/C Modes Data Logging String Format Data Logging Cables 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 Entering Programming Mode Configuring the Controller using the Switches Restoring factory defaults Changing parametersSpecial Case of Joystick Calibration Exiting the Parameter Setting Mode Programmable Parameters List Order 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 Utility Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions View Controller Connector Pinout Parameter Selection and Setting and Special FunctionsFile and Program Management Commands Getting On-Screen Help Loading, Changing Controller Parameters Control SettingsMotor Control Mode Loading, Changing Controller Parameters Power Settings Acceleration Setting Analog or R/C Specific SettingsLoading, Changing Controller Parameters Left/Right Adjust Deadband Encoder Setting and Testing Closed Loop Parameters Encoder Module Parameters Setting Encoder Setting and Testing Running the Motors Exercising the MotorsViewing Encoder Data Run/Stop Button Motor Power settingRunning the Motors Measurement Real-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 Parameter Command Entry Using the ConsoleUsing the Console Terminal Screen Loading and Saving Profiles to Disk Send Reset StringViewing and Logging Data in Analog and R/C Modes Keep Watchdog Alive Operating the AX2550 over a Wired or Wireless LAN Operating the AX2550 over a Wired or Wireless LAN Roboserver screenshot when idle Updating the Controller’s Software Creating 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 Considerations Thermal Considerations Wire DimensionsWire Gauge Outside Diameter Color Length Attaching the Controller Directly to a Chassis Weight