100 | RoboteQ AX500 manual

Analog Control and Operation

100

AX500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 100

RoboteQ AX500 manual 100

Contents

AX500 Dual Channel Digital Motor Controller AX500 Motor Controller User’s Manual Revision History Revision HistoryDate Version Changes AX500 Motor Controller User’s Manual Section Section Section 101 112 Operating the AX500 over a Wired or Wireless LAN Important Safety Avoid Shorts when Mounting Board against ChassisDo not Connect to a RC Radio with a Battery Attached To the Battery Important Safety Warnings Locating the Connectors AX500Quick Start What you will need Power Must be con AX500 Quick StartNected to VCon VMot for the controller Connecting to the Batteries and Motors Connecting to the Batteries and Motors Connecting the R/C Radio Connecting to the 15-pin ConnectorSignal Pin RC Mode RS232 Mode Analog Mode Powering On the Controller Powering On the Controller Connecting the controller to your PC using Roborun Default Controller ConfigurationParameter Default Values Letter Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision Number Exploring further AX500 Motor Controller Overview Product Description Technical features Technical features Low Power ConsumptionHigh Efficiency Motor Power Outputs Advanced Safety Features Data Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Controller Power Connecting Power and Motors to the Controller Controller Powering Schemes Powering the Controller from a single BatteryController Powering Schemes VCon VMot Controller Status Connecting the Motors Powering the Controller Using a Main and Backup Battery Single Channel Operation Single Channel Operation Power Fuses Converting the AX500 to Single Channel Power Regeneration Considerations Wire Length LimitsElectrical 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 Input Command Modes General OperationBasic Operation Basic Operation Selecting the Motor Control Modes Open Loop, Separate Speed ControlOpen Loop, Mixed Speed Control General Operation Close Loop Position Control Closed Loop Speed ControlSelecting the Motor Control Modes Temperature-Based Current Limitation User Selected Current Limit SettingsTemperature Max Amps Battery Current vs. Motor Current Battery Current vs. Motor CurrentMotor Current = Battery Current / PWM ratio Programmable Acceleration Off Programmable Acceleration Command Control Curves Left / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Parameter Value Speed Adjustment Emergency Stop using External Switch Activating Brake Release or Separate Motor ExcitationInverted Operation Activating Brake Release or Separate Motor Excitation Special Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered Output AX500 Connections Connecting Sensors and Actuators to Input/OutputsAX500 Connections Connecting Sensors and Actuators to Input/Outputs AX500’s Inputs and Outputs Signal Type Use Activated AX500’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 EStop/Invert Input Connecting Switches or Devices to EStop/Invert Input Connecting Position Potentiometers to Analog Inputs Analog Inputs Connecting Tachometer to Analog Inputs Connecting Tachometer to Analog InputsAna Ana2 Operating Mode Pin Operating Mode Ana 1 p11 Ana2 p10 Ana 3 p12 Ana 4 p8 Connecting External Thermistor to Analog Inputs Connecting External Thermistor to Analog InputsTemp oC Resistance kOhm Using the Analog Inputs to Monitor External Voltages Internal Heatsink Temperature Sensors Connecting User Devices to Analog InputsInternal Voltage Monitoring Sensors Temperature Conversion C Source Code Internal Heatsink Temperature Sensors Connecting Sensors and Actuators to Input/Outputs Closed Loop Position Mode Mode DescriptionSelecting the Position Mode Mode Description Position Sensor Selection Closed Loop Position ModeSensor Mounting Feedback Potentiometer wiring Feedback Potentiometer wiring in RC or RS232 ModeFeedback Potentiometer wiring in Analog Mode Feedback Potentiometer wiring Analog Feedback on Single Channel Controllers Sensor and Motor Polarity Sensor and Motor Polarity Encoder Error Detection and Protection Adding Safety Limit Switches Adding Safety Limit Switches Using Current Limiting as Protection Control Loop Description PID tuning in Position Mode PID tuning in Position Mode Closed Loop Position Mode Closed Loop Speed Mode Selecting the Speed Mode Tachometer wiring Closed Loop Speed ModeTachometer or Encoder Mounting Speed Sensor and Motor Polarity Adjust Offset and Max Speed Adjust Offset and Max Speed Control Loop Description PID tuning in Speed Mode PID tuning in Speed Mode Closed Loop Speed Mode Normal Fault Condition LED Messages Diagnostic LEDDiagnostic LED Normal Operation Flashing Pattern Output Off / Fault Condition Normal and Fault Condition LED Messages C radio control mode C Operation Selecting the R/C Input Mode Connector I/O Pin Assignment R/C ModePin Input or Number Output Signal Description Operation Supplied Cable Description Input Circuit DescriptionInput Circuit Description Powering the Radio from the controller RC connection cable Connecting to a Separately Powered Radio Connecting to a Separately Powered Radio Operating the Controller in R/C mode Wiring when receiver is powered by its own separate battery Reception Watchdog Reception Watchdog Transmitter/Receiver Quality Considerations Joystick Deadband Programming Command Control Curves Effect of deadband on joystick position vs. motor speed Left/Right Tuning Adjustment Joystick Calibration Data Logging in R/C Mode Data Logging in R/C Mode DB9 Female 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 = 5mA Analog Deadband Adjustment Analog Deadband Adjustment Under Voltage Safety Power-On SafetyData Logging in Analog Mode Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC 100 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 Operation Cable 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 Entering RS232 from R/C or Analog mode Data Logging String in R/C or Analog modeEstablishing Manual Communication with a PC Roboteq v1.9b 06/01/07 s Commands Acknowledge and Error Messages RS232 Mode if defaultCommand Acknowledgement Command Error Controller Commands and Queries Command Type DescriptionRS-232 Watchdog Watchdog time-out Set Motor Command Value Set Accessory Output Query Amps from Battery to each Motor Channel Query Power Applied to MotorsSyntax Query Heatsink Temperatures Query Analog Inputs?r or ?R ?m or ?M Query Battery Voltages Reset ControllerController Commands and Queries Query Digital Inputs Accessing & Changing Configuration Parameter in Flash Apply Parameter ChangesRead parameter Modify parameter Accessing & Changing Configuration Parameter in Flash Flash Configuration Parameters ListLocation Description Active after Input Control Mode Motor Control ModeAddress Access Read/Write Effective After Reset Value Mode See pages Amps Limit Bit Definition See pages Input Switches Function Acceleration RC Joystick or Analog Deadband Address Channel Access Read/Write Effective InstantlyExponentiation on Channel 1 and Channel Left/Right Adjust Default PID Gains Joystick Min, Max and Center Values Reading & Changing Operating Parameters at RuntimeReading & Changing Operating Parameters at Runtime Location Function Operating Modes RegistersBit Function PWM Frequency Register Read/Change PID ValuesController Status Register Bit Fault Condition Effect Controller Identification RegisterCurrent Amps Limit Registers Bit Model or Function AX500 Motor Controller User’s Manual 123 124 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 AX500 Motor Controller User’s Manual 129 130 Downloading and Installing the Utility Using the Roborun Configuration UtilitySystem Requirements Connecting the Controller to the PC Using the Roborun Configuration Utility Roborun Frame, Tab and Menu Descriptions Parameter Selection and Setting and Special FunctionsRoborun Frame, Tab and Menu Descriptions File and Program Management Commands View Controller Connector PinoutGetting On-Screen Help Loading, Changing Controller Parameters Control Settings Motor Control ModeInput Command Adjustment Loading, Changing Controller Parameters Power Settings Deadband Analog or R/C Specific SettingsJoystick Timing Running the Motors Closed Loop Parameters Motor Power setting Running the MotorsRun/Stop Button Measurement Real-Time Strip Chart Recorder Input Status and Output SettingData Logging and Timer Transmit and Receive Data Logging Data to Disk Using the Console Connecting a Joystick Using the Console Command EntrySend Reset String Terminal Screen Viewing and Logging Data in Analog and R/C Modes Operating the AX500 over a Wired or Wireless LANLoading and Saving Profiles to Disk Operating the AX500 over a Wired or Wireless LAN Roboserver screenshot when idle Updating the Controller’s Software Updating the Encoder Software Objectmaker creates controller firmware with custom defaults Creating Customized Object Files 148 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Mounting Considerations Mechanical SpecificationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a Chassis Precautions to observe Weight Wire DimensionsWire Dimensions 154