Manuals / RoboteQ / Computer Equipment / Computer Accessories

RoboteQ AX3500 user manual General Operation, Basic Operation, Input Command Modes

Models: AX3500

1 208

Download 208 pages 62.24 Kb

Page 41

Basic Operation

Basic Operation

SECTION 5

General Operation

This section discusses the controller’s normal operation in all its supported operating modes.

Basic Operation

The AX3500’s operation can be summarized as follows:

•Receive commands from a radio receiver, joystick or a microcomputer

•Activate the motors according to the received command

•Perform continuous check of fault conditions and adjust actions accordingly

Multiple options are available for each of the above listed functions which can be combined to produce practically any desired mobile robot configuration.

Input Command Modes

The controller will accept commands from one of the following sources

•R/C radio

•Serial data (RS232)

•Analog signal (0 to 5V)

A detailed discussion on each of these modes and the available commands is provided in the following dedicated chapters: “R/C Operation” on page 113, “Serial (RS-232) Controls and Operation” on page 135, and “Analog Control and Operation” on page 127.

The controller’s factory default mode is R/C radio. The mode can be changed using any of the methods described in “Programming using built-in Switches and Display” on page 175 and “Loading, Changing Controller Parameters” on page 185.

AX3500 Motor Controller User’s Manual

41

Image 41

RoboteQ user manual General Operation, Basic Operation, Input Command Modes, AX3500 Motor Controller User’s Manual

Contents

User’s Manual Dual Channel High Power Digital Motor ControllerAX3500 Version 1.9b. June 1 AX3500 Motor Controller User’s ManualRevision History Revision HistoryDate VersionVersion 1.9b. June 1 AX3500 Motor Controller User’s ManualRevision History General Operation SECTION SECTIONSECTION SECTION SECTION SECTION Programming using built-in Switches and Display Version 1.9b. June 1 AX3500 Motor Controller User’s ManualAvoid Shorts when Mounting Board against Chassis Important SafetyDo not Connect to a RC Radio with a Battery Attached WarningsVersion 1.9b. June 1 Important Safety WarningsAX3500 Motor Controller User’s Manual AX3500 Locating the Switches and ConnectorsQuick Start What you will needAX3500 Motor Controller User’s Manual AX3500 Quick StartAX3500 Motor Controller User’s Manual Connecting to the Batteries and MotorsConnecting to the Batteries and Motors Important Warning Connecting to the 15-pin ConnectorSignal Important WarningPowering On the Controller Connecting the R/C RadioConnecting the R/C Radio Important WarningAX3500 Quick Start Button OperationProg and Set button status FunctionDefault Controller Configuration Default Controller ConfigurationDefault Values Prog and Set button statusAX3500 Motor Controller User’s Manual Connecting the controller to your PC using RoborunAX3500 Quick Start AX3500 Motor Controller User’s Manual Obtaining the Controller’s Software Revision NumberObtaining the Controller’s Software Revision Number = Software version 1.9b Exploring furtherAX3500 Quick Start AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual SECTION 3AX3500 Motor Controller OverviewProduct Description Multiple Command Modes Technical featuresAutomatic Joystick Command Corrections AX3500 Motor Controller OverviewLow Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Optical Encoder InputsAX3500 Motor Controller Overview Advanced Safety FeaturesData Logging Capabilities Compact Open Frame PCB DesignPower Connections Connecting Power and Motors to the ControllerPower Connections Important WarningAX3500 Motor Controller User’s Manual Controller PowerConnecting Power and Motors to the Controller Power Control input is Controller PowerAnd Main Battery mended Off ConfigurationPowering the Controller from a single Battery Controller Powering SchemesConnecting Power and Motors to the Controller Power Control input isController Powering Schemes Powering the Controller Using a Main and Backup BatteryImportant Warning AX3500 Motor Controller User’s ManualConnecting Power and Motors to the Controller Connecting the MotorsImportant Warning Important WarningConverting the AX3500 to Single Channel Single Channel OperationSingle Channel Operation AX3500 Motor Controller User’s ManualConnecting Power and Motors to the Controller Power FusesImportant Warning AX3500 Motor Controller User’s ManualPower Regeneration Considerations Wire Length LimitsElectrical Noise Reduction Techniques Wire Length LimitsUndervoltage Protection Overvoltage ProtectionConnecting Power and Motors to the Controller Important WarningAX3500 Motor Controller User’s Manual Using the Controller with a Power SupplyUsing the Controller with a Power Supply Version 1.9b. June 1 Connecting Power and Motors to the ControllerAX3500 Motor Controller User’s Manual General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationClose Loop Position Control Closed Loop Speed ControlSelecting the Motor Control Modes AX3500 Motor Controller User’s ManualTemperature-Based Current Limitation User Selected Current Limit SettingsPosition Feedback Position Sensor Gear box SettingBattery Current vs. Motor Current Battery Current vs. Motor CurrentMotor Current = Battery Current / PWM ratio TemperatureMotor Current = Battery Current / PWM Ratio Regeneration Current LimitingImportant Warning General OperationSetting Using Programmable AccelerationSetting Using SwitchesSetting Using Command Control CurvesSetting Using SwitchesLeft / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected CurveSpeed Adjustment Speed AdjustmentGeneral Operation Parameter ValueEmergency Stop using External Switch Emergency Shut Down Using Controller SwitchesActivating Brake Release or Separate Motor Excitation Speed AdjustmentUsing the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsUsing the Inputs to turn Off/On the Power MOSFET transistors Inverted Operation= Software version 1.9b Self-Test ModeSelf-Test Mode AX3500 Motor Controller User’s ManualGeneral Operation Important WarningEncoder Speed or Position AX3500 Motor Controller User’s ManualAX3500 Connections Connecting Sensors and Actuators to Input/OutputsAX3500 Connections AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual AX3500’s Inputs and OutputsConnecting Sensors and Actuators to Input/Outputs AX3500’s Inputs and Outputs SignalI/O type ActivatedI/O List and Pin Assignment Pin1Connecting Sensors and Actuators to Input/Outputs Signal dependingConnecting devices to Output C Connecting devices to Output CSignal depending Input orImportant warning Connecting Switches or Devices to Input FConnecting Sensors and Actuators to Input/Outputs AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Connecting Switches or Devices to EStop/Invert InputConnecting Switches or Devices to EStop/Invert Input Analog Inputs Connecting Position Potentiometers to Analog InputsConnecting Sensors and Actuators to Input/Outputs AX3500 Motor Controller User’s ManualConnecting Tachometer to Analog Inputs Connecting Tachometer to Analog InputsImportant Warning Ana2Important Warning Connecting Sensors and Actuators to Input/OutputsOperating Mode Ana 1 p11Connecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhmAX3500 Motor Controller User’s Manual Using the Analog Inputs to Monitor External VoltagesConnecting Sensors and Actuators to Input/Outputs Internal Voltage Monitoring Sensors Connecting User Devices to Analog InputsInternal Heatsink Temperature Sensors Connecting User Devices to Analog InputsConnecting Sensors and Actuators to Input/Outputs Temperature Conversion C Source CodeAX3500 Motor Controller User’s Manual ValueAX3500 Motor Controller User’s Manual Internal Heatsink Temperature Sensorselse LoTemp = i * 5Version 1.9b. June 1 Connecting Sensors and Actuators to Input/OutputsAX3500 Motor Controller User’s Manual RC Pulse Output Overview RC Pulses OutputRC Pulse Output Overview AX3500 Motor Controller User’s ManualConnecting Servos to Controllers Connector Location and PinoutServo Connection to RevA Controllers RC Pulses OutputServo Connection to RevB Controllers Connecting to Slave ControllersConnecting to Slave Controllers AX3500 Motor Controller User’s ManualCommand Value Pulse Timing InformationPulse Width 1.00ms 1.50msRC Channel Testing Using the PC Utility RC Channel Testing Using the PC UtilityImportant Warning AX3500 Motor Controller User’s ManualVersion 1.9b. June 1 RC Pulses OutputAX3500 Motor Controller User’s Manual Optical Incremental Encoders Overview Connecting and Using the Encoder FunctionOptical Incremental Encoders Overview AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Recommended Encoder TypesConnecting and Using the Encoder Function Connecting the Encoder Connecting the EncoderPulse Frequency in Hz = RPM / 60 * PPR AX3500 Motor Controller User’s ManualMotor - Encoder Polarity Matching Cable Length and Noise ConsiderationsConnecting and Using the Encoder Function Important WarningAX3500 Motor Controller User’s Manual Voltage Levels, Thresholds and Limit SwitchesVoltage Levels, Thresholds and Limit Switches Connecting and Using the Encoder Function Wiring Optional Limit SwitchesImportant Warning AX3500 Motor Controller User’s ManualEffect of Limit Switches Wiring Limit Switches Without EncodersWiring Limit Switches Without Encoders Motor 1 FwdUsing the Encoder to Measure Speed Using the Encoder Module to Measure DistanceConnecting and Using the Encoder Function Motor 2 FwdImportant Notice Using the Encoder to Track PositionUsing the Encoder to Track Position AX3500 Motor Controller User’s ManualImportant Notice Connecting and Using the Encoder FunctionThe actual formula is as follows Distance = Destination - Counter value / DividerRS232 Communication with the Encoder Module Encoder Testing and Setting Using the PC UtilityRS232 Communication with the Encoder Module AX3500 Motor Controller User’s ManualVersion 1.9b. June 1 Connecting and Using the Encoder FunctionAX3500 Motor Controller User’s Manual Mode Description Closed Loop Position ModeSelecting the Position Mode Mode DescriptionSensor Mounting Position Sensor SelectionPosition Feedback Position Sensor Gear box Closed Loop Position ModeFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiringFeedback Potentiometer wiring Important NoticeImportant Notice Feedback Potentiometer wiring in Analog ModeClosed Loop Position Mode AX3500 Motor Controller User’s ManualFeedback Wiring in Analog Mode on Single Channel Controllers Feedback Wiring in RC or RS232 Mode on Single Channel ControllersAnalog Feedback on Single Channel Controllers Important NoticeSensor and Motor Polarity Using Optical Encoders in Position ModeImportant Warning Closed Loop Position ModeEncoder Error Detection and Protection Important Safety WarningAdding Safety Limit Switches Encoder Error Detection and ProtectionAX3500 Motor Controller User’s Manual FIGURE 62. Safety limit switches interrupting power to motorsClosed Loop Position Mode Control Loop Description Using Current Limiting as ProtectionUsing Current Limiting as Protection Important WarningAX3500 Motor Controller User’s Manual PID tuning in Position ModeClosed Loop Position Mode AX3500 Motor Controller User’s Manual PID tuning in Position ModeApplied Power = Command Value - Actual Position * Proportional Gain Version 1.9b. June 1 Closed Loop Position ModeAX3500 Motor Controller User’s Manual Selecting the Speed Mode Closed Loop Speed ModeMode Description Mode DescriptionTachometer wiring Using Optical Encoder for Speed FeedbackDigital Optical EncodTachometer or Encoder Mounting Closed Loop Speed ModeImportant Warning Speed Sensor and Motor PolaritySpeed Sensor and Motor Polarity AX3500 Motor Controller User’s ManualImportant Warning Adjust Offset and Max SpeedControl Loop Description Closed Loop Speed ModeAX3500 Motor Controller User’s Manual PID tuning in Speed ModePID tuning in Speed Mode AX3500 Motor Controller User’s Manual Closed Loop Speed ModeIn Speed Mode, the Integral component of the PID is the most important and must be set first. The Proportional and Differential component will help improve the response time and loop stability Use of the LED Display Normal and Fault Condition LED MessagesUse of the LED Display AX3500 Motor Controller User’s ManualNormal and Fault Condition LED Messages Motor Direction StatusPossible Display MotorNo Control Fault MessagesFault Messages Possible DisplayPermanent Faults Temporary FaultsSelf-Test Display Normal and Fault Condition LED MessagesAX3500 Motor Controller User’s Manual = Software version 1.9bSelf-Test Display Version 1.9b. June 1 Normal and Fault Condition LED MessagesAX3500 Motor Controller User’s Manual Mode Description SECTION 12 R/C OperationMode Description AX3500 Motor Controller User’s ManualSelecting the R/C Input Mode Connector I/O Pin Assignment R/C ModeSignal Pin1Supplied Cable Description R/C Input Circuit DescriptionSignal R/C Input Circuit DescriptionFIGURE 74. RC Cable wiring diagram Powering the Radio from the controllerR/C Operation FIGURE 75. RC connection cable3 Channel 1 Command Pulses 4 Channel 2 Command Pulses Powering the Radio from the controller6 Radio battery - Ground 7 Radio battery + 8 Channel 3 Command Pulses Wire loop bringing power from controller to RC radioOperating the Controller in R/C mode Connecting to a Separately Powered RadioR/C Operation AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Reception WatchdogReception Watchdog R/C Transmitter/Receiver Quality Considerations Important Notice about PCM RadiosR/C Operation AX3500 Motor Controller User’s ManualJoystick Deadband Programming Joystick Deadband ProgrammingDeadband Parameter Value Deadband as Percent of full Joystick TravelJoystick Calibration Left/Right Tuning AdjustmentCommand Control Curves R/C OperationAX3500 Motor Controller User’s Manual Automatic Joystick CalibrationAutomatic Joystick Calibration Important Notice Data Logging in R/C ModeR/C Operation On before entering joystick calibrationAX3500 Motor Controller User’s Manual Data Logging in R/C ModeDB15 Male To ControllerVersion 1.9b. June 1 R/C OperationAX3500 Motor Controller User’s Manual Important Notice Analog Control and OperationMode Description Mode DescriptionSignal Connector I/O Pin Assignment Analog ModePin1 Analog Control and OperationConnecting a Potentiometer Connecting to a Voltage SourceConnecting to a Voltage Source AX3500 Motor Controller User’s ManualImportant Notice Selecting the Potentiometer ValueAnalog Deadband Adjustment Under Voltage Safety Power-On SafetyData Logging in Analog Mode Motor Power at 0%AX3500 Motor Controller User’s Manual Data Logging in Analog ModeVersion 1.9b. June 1 Analog Control and OperationAX3500 Motor Controller User’s Manual Use and benefits of RS232 Serial RS-232 Controls and OperationUse and benefits of RS232 AX3500 Motor Controller User’s ManualSignal Connector I/O Pin Assignment RS232 ModePin1 Serial RS-232 Controls and OperationExtending the RS232 Cable Cable configurationCable configuration AX3500 Motor Controller User’s Manual9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Communication SettingsEstablishing Manual Communication with a PC Serial RS-232 Controls and OperationEstablishing Manual Communication with a PC RS232 Communication with the Encoder ModuleRoboteq v1.9b 06/01/07 s AX3500 Motor Controller User’s ManualData Logging String in R/C or Analog mode Entering RS232 from R/C or Analog modeSerial RS-232 Controls and Operation AX3500 Motor Controller User’s ManualRS232 Mode if default Commands Acknowledge and Error MessagesCommand Acknowledgement Command ErrorRS-232 Watchdog Controller Commands and QueriesCommand Serial RS-232 Controls and OperationSet Accessory Output Set Motor Command ValueQuery Power Applied to Motors Controller Commands and QueriesImportant Notice Query Amps from Battery to each Motor ChannelImportant Notice Serial RS-232 Controls and OperationQuery Heatsink Temperatures Query Analog InputsController Commands and Queries ?r or ?RReset Controller Query Battery VoltagesQuery Digital Inputs Serial RS-232 Controls and OperationApply Parameter Changes Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in Flash Read parameterSerial RS-232 Controls and Operation Flash Configuration Parameters ListLocation DescriptionMotor Control Mode Input Control ModeAccessing & Changing Configuration Parameter in Flash AccessAcceleration Amps LimitAccess After Reset or FFAccessing & Changing Configuration Parameter in Flash Input Switches FunctionAccess After Reset or FFRC Joystick or Analog Deadband Left/Right AdjustExponentiation on Channel 1 and Channel AccessDefault Encoder Distance Divider Default Encoder Time Base 1 andAccessing & Changing Configuration Parameter in Flash AccessJoystick Min, Max and Center Values Default PID GainsAccess After Reset or FFReading & Changing Operating Parameters at Runtime Reading & Changing Operating Parameters at RuntimeDefinition See pagesRead/Change PID Values Operating Modes RegistersAccess Access Read/Write Effective InstantlyController Status Register PWM Frequency RegisterAddress Access Read/Write Effective Instantly AccessCurrent Amps Limit Registers Controller Identification RegisterAccess AccessSet/Reset Encoder Counters and Destination Registers RS232 Encoder Command SetRead Encoder Counter RS232 Encoder Command Setq or !Q n Read SpeedSyntax AX3500 Motor Controller User’s ManualRead Distance Read Encoder Limit Switch StatusRead Speed/Distance RS232 Encoder Command SetRead / Modify Encoder Module Registers and Parameters Important NoteSwitch SwitchAccess RS232 Encoder Command SetModify parameter AddressRegister Description Switch StatusEncoder Hardware ID code AccessCounter Read/Write Mailbox Speed or Distance 1 orCounter 1 and Destination Register 1 andSpeed 1 and Distance 1 andTime Base 1 and Encoder ThresholdRC Pulse Outputs Activation Counter Read Data FormatDefault Value AccessDecimal Encoder Testing and Setting Using the PC Utility32-bit Hex Controller OutputAX3500 Motor Controller User’s Manual Automatic Switching from RS232 to RC ModeAutomatic Switching from RS232 to RC Mode Analog and R/C Modes Data Logging String Format 00 11 22 33 44 55 66 77 88 99 AA BB CCData Logging Cables AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Decimal to Hexadecimal Conversion TableDecimal to Hexadecimal Conversion Table AX3500 Motor Controller User’s Manual AX3500 Motor Controller User’s Manual Decimal to Hexadecimal Conversion TableVersion 1.9b. June 1 AX3500 Motor Controller User’s ManualProgramming using built-in Switches and Display SECTION 15 Configuring the Controller using the SwitchesProgramming Methods AX3500 Motor Controller User’s ManualConfiguring the Controller using the Switches Entering Programming ModeProgram AX3500 Motor Controller User’s ManualThe Special Case of Joystick Calibration Changing parametersProgramming using built-in Switches and Display Important WarningExiting the Parameter Setting Mode Restoring factory defaultsProgrammable Parameters List Configuring the Controller using the SwitchesFor safety reasons, the modes below Possible Values defaultcannot be selected using the switches Programmable Parameters ListPossible Values default Configuring the Controller using the SwitchesOrder LetterDownloading and Installing the Utility SECTION 16 Using the Roborun Configuration UtilitySystem Requirements AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Connecting the Controller to the PCUsing the Roborun Configuration Utility Roborun Frame, Tab and Menu Descriptions Roborun Frame, Tab and Menu Descriptions1- Program Revision Number 2- Controller and Communication Link InformationUsing the Roborun Configuration Utility Getting On-Screen Help3- Parameter Selection and Setting and Special Functions 4- File and Program Management CommandsLoading, Changing Controller Parameters Control SettingsLoading, Changing Controller Parameters 1- Controller InputUsing the Roborun Configuration Utility Power Settings3- Input Command Adjustment 4- Emergency Stop or Invert Switch SelectLoading, Changing Controller Parameters 2- Left/Right Adjust Analog or R/C Specific Settings3- Acceleration Setting 1- DeadbandClosed Loop Parameters Encoder Setting and TestingUsing the Roborun Configuration Utility AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Encoder Module Parameters SettingEncoder Setting and Testing Exercising the Motors RC Output TestingViewing Encoder Data Using the Roborun Configuration UtilityAX3500 Motor Controller User’s Manual Running the MotorsRunning the Motors 2- Motor Power setting Using the Roborun Configuration Utility1- Run/Stop Button 3- Measurement6- Input Status and Output Setting 4- Real-Time Strip Chart RecorderRunning the Motors 5- Transmit and Receive DataUsing the Roborun Configuration Utility Logging Data to Disk7- Data Logging and Timer 8- Joystick EnableRunning the Motors Connecting a JoystickParameter Header Data type/rangeUsing the Roborun Configuration Utility Using the Console2- Command Entry 1- Terminal ScreenLoading and Saving Profiles to Disk Viewing and Logging Data in Analog and R/C Modes4- Send Reset String Viewing and Logging Data in Analog and R/C ModesAX3500 Motor Controller User’s Manual Operating the AX3500 over a Wired or Wireless LANUsing the Roborun Configuration Utility Important Warning Updating the Controller’s SoftwareUpdating the Controller’s Software AX3500 Motor Controller User’s ManualUpdating the Encoder Software Creating Customized Object FilesUsing the Roborun Configuration Utility Important WarningAX3500 Motor Controller User’s Manual Creating Customized Object FilesVersion 1.9b. June 1 Using the Roborun Configuration UtilityAX3500 Motor Controller User’s Manual Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions AX3500 Motor Controller User’s ManualThermal Considerations Mounting ConsiderationsMechanical Specifications AX3500 Motor Controller User’s ManualAX3500 Motor Controller User’s Manual Attaching the Controller Directly to a ChassisAttaching the Controller Directly to a Chassis AX3500 Motor Controller User’s Manual Precautions to observeMechanical Specifications Weight Wire DimensionsWire Dimensions AX3500 Motor Controller User’s ManualVersion 1.9b. June 1 Mechanical SpecificationsAX3500 Motor Controller User’s Manual