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RoboteQ AX2850 user manual Connecting Sensors and Actuators to Input/Outputs

Models: AX2850

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Connecting Sensors and Actuators to Input/Outputs

70

AX2550 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 70

RoboteQ AX2850 user manual Connecting Sensors and Actuators to Input/Outputs

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 RadioButton Operation Powering On the ControllerProg 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 onlyData Logging Capabilities Advanced Safety FeaturesSturdy and Compact Mechanical Design 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 MCUPower Regeneration Considerations Wire Length LimitsElectrical 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 OperationClose Loop Position Control Closed Loop Speed ControlSelecting the Motor Control Modes Temperature-Based Current Limitation User Selected Current Limit SettingsSetting 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 ExcitationUsing the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsInverted Operation 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 p8Temp oC Connecting External Thermistor to Analog InputsResistance 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 Optical Incremental Encoders Overview Installing Connecting Using Encoder ModuleOptical 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 Cable Length and Noise Considerations Voltage Levels, Thresholds and Limit SwitchesMotor 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 to Measure Speed Using the Encoder Module to Measure DistanceMotor 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 DescriptionPosition Sensor Selection Closed Loop Position ModeSensor Mounting Feedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiringFeedback 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 PolarityAdding Safety Limit Switches Encoder Error Detection and ProtectionEncoder 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 Use of the LED Display Normal Fault Condition LED MessagesUse of the LED Display Motor Direction Status Normal and Fault Condition LED MessagesPossible Display Motor Comment No Control Fault MessagesFault Messages Rapidly FlashingPermanent Faults Temporary 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 OperationSupplied Cable Description Input Circuit 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 Pin Input or Number Signal Output Description Connector I/O Pin Assignment Analog ModeAnalog Control and Operation Connecting a Potentiometer Connecting to a Voltage SourceConnecting to a Voltage Source Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentUnder Voltage Safety Power-On SafetyData Logging in Analog Mode 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 OperationCable configuration Cable configurationExtending the RS232 Cable Bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Communication SettingsEstablishing Manual Communication with a PC Establishing Manual Communication with a PC RS232 Communication with the Encoder ModuleRoboteq 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 Command Type Description Controller Commands and QueriesRS-232 Watchdog Set Accessory Output Set Motor Command ValueController 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 AccelerationRC Joystick or Analog Deadband Address Channel Access Read/Write Effective InstantlyExponentiation on Channel 1 and Channel Left/Right Adjust Default Encoder Time Base 1Default PID Gains Default Encoder Distance DividerJoystick 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 RegisterCurrent Amps Limit Registers Controller Identification RegisterBit Model or Function Set/Reset Encoder Counters and Destination Registers RS232 Encoder Command SetRead Encoder Counter Read Speed Or !Q nRead Distance Read Encoder Limit Switch StatusRead Speed/Distance Read / Modify Encoder Module Registers and Parameters Switch ValueDD= 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 Programming using built-in Switches and Display Configuring Controller using SwitchesProgramming Methods Entering Programming Mode Configuring the Controller using the SwitchesChanging parameters Restoring factory defaultsSpecial Case of Joystick Calibration Exiting the Parameter Setting Mode Programmable Parameters ListProgrammable Parameters List Order Letter Description Possible Values default PagesSee 176 Downloading and Installing the Utility Using the Roborun Configuration 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 TestingExercising the Motors Running the MotorsViewing Encoder Data Run/Stop Button Motor Power settingRunning the Motors MeasurementInput Status and Output Setting Real-Time Strip Chart RecorderTransmit 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 SoftwareUpdating the Encoder Software Creating Customized Object FilesCreating Customized Object Files Objectmaker creates controller firmware with custom defaults Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Wire DimensionsWire Gauge Outside Diameter Color Length Attaching the Controller Directly to a ChassisWeight