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RoboteQ AX500 Important Safety, Avoid Shorts when Mounting Board against Chassis, To the Battery

Models: AX500

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	Important Safety
SECTION 1	Important Safety
	Warnings

Read this Section First

The AX500 is a power electronics device. Serious damage, including fire, may occur to the unit, motors, wiring and batteries as a result of its misuse. Please review the User’s Manual for added precautions prior to applying full battery or full load power.

This product is intended for use with rechargeable batteries

Unless special precautions are taken, damage to the controller and/or power supply may occur if operated with a power supply alone. See“Power Regeneration Consid- erations” on page 31 of the Users Manual. Always keep the controller connected

to the Battery.

Avoid Shorts when Mounting Board against Chassis

Use precautions to avoid short circuits when mounting the board against a metallic chassis with the heat sink on or removed. See “Attaching the Controller Directly to a Chassis” on page 151.

Do not Connect to a RC Radio with a Battery Attached

Without proper protection, a battery attached to an RC Radio may inject its voltage directly inside the controller’s sensitive electronics. See

Beware of Motor Runaway in Improperly Closed Loop

Wiring or polarity errors between the feedback device and motor in position or closed loop position mode may cause the controller to runaway with no possibility to stop it until power is turned off.

AX500 Motor Controller User’s Manual

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RoboteQ AX500 manual Important Safety, Avoid Shorts when Mounting Board against Chassis, To the Battery

Contents

Dual Channel Digital Motor Controller AX500AX500 Motor Controller User’s Manual Date Version Changes Revision HistoryRevision History AX500 Motor Controller User’s Manual Section Section Section 101 112 Operating the AX500 over a Wired or Wireless LAN To the Battery Important SafetyAvoid Shorts when Mounting Board against Chassis Do not Connect to a RC Radio with a Battery AttachedImportant Safety Warnings What you will need Locating the ConnectorsAX500 Quick StartVMot for the controller Power Must be conAX500 Quick Start Nected to VConConnecting to the Batteries and Motors Connecting to the Batteries and MotorsSignal Pin RC Mode RS232 Mode Analog Mode Connecting to the 15-pin ConnectorConnecting the R/C Radio Powering On the Controller Powering On the ControllerParameter Default Values Letter Default Controller ConfigurationConnecting the controller to your PC using Roborun Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision NumberExploring further Product Description AX500 Motor Controller OverviewTechnical features Advanced Safety Features Technical featuresLow Power Consumption High Efficiency Motor Power OutputsData Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Connecting Power and Motors to the Controller Controller PowerVCon VMot Controller Status Controller Powering SchemesPowering the Controller from a single Battery Controller Powering SchemesPowering the Controller Using a Main and Backup Battery Connecting the MotorsSingle Channel Operation Single Channel OperationConverting the AX500 to Single Channel Power FusesElectrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Undervoltage Protection Overvoltage 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 OperationGeneral Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed ControlSelecting the Motor Control Modes Closed Loop Speed ControlClose Loop Position Control Temperature Max Amps User Selected Current Limit SettingsTemperature-Based Current Limitation Motor Current = Battery Current / PWM ratio Battery Current vs. Motor CurrentBattery Current vs. Motor Current Off Programmable AccelerationProgrammable Acceleration Command Control Curves Exponentiation Parameter Value Selected Curve Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Parameter Value Speed Adjustment Activating Brake Release or Separate Motor Excitation Emergency Stop using External SwitchActivating Brake Release or Separate Motor Excitation Inverted OperationUsing the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsAX500 Connections Connecting Sensors and Actuators to Input/OutputsAX500 Connections AX500’s Inputs and Outputs Connecting Sensors and Actuators to Input/OutputsAX500’s Inputs and Outputs Signal Type Use ActivatedList and Pin Assignment Pin1Connecting devices to Output C Connecting devices to Output CConnecting Switches or Devices to Input F Connecting Switches or Devices to Input EConnecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert InputAnalog Inputs Connecting Position Potentiometers to Analog InputsAna Ana2 Operating Mode Pin Connecting Tachometer to Analog InputsConnecting Tachometer to Analog Inputs Operating Mode Ana 1 p11 Ana2 p10 Ana 3 p12 Ana 4 p8 Resistance kOhm Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Temp oCUsing the Analog Inputs to Monitor External Voltages Internal Voltage Monitoring Sensors Connecting User Devices to Analog InputsInternal Heatsink Temperature Sensors Temperature Conversion C Source Code Internal Heatsink Temperature Sensors Connecting Sensors and Actuators to Input/Outputs Mode Description Closed Loop Position ModeMode Description Selecting the Position ModeSensor Mounting Closed Loop Position ModePosition Sensor Selection Feedback Potentiometer wiring Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiring in Analog ModeAnalog Feedback on Single Channel Controllers Sensor and Motor Polarity Sensor and Motor PolarityAdding Safety Limit Switches Encoder Error Detection and ProtectionAdding Safety Limit Switches Control Loop Description Using Current Limiting as ProtectionPID tuning in Position Mode PID tuning in Position ModeClosed Loop Position Mode Selecting the Speed Mode Closed Loop Speed ModeSpeed Sensor and Motor Polarity Tachometer wiringClosed Loop Speed Mode Tachometer or Encoder MountingAdjust Offset and Max Speed Adjust Offset and Max SpeedControl Loop Description PID tuning in Speed Mode PID tuning in Speed ModeClosed Loop Speed Mode Normal Operation Flashing Pattern Normal Fault Condition LED MessagesDiagnostic LED Diagnostic LEDNormal and Fault Condition LED Messages Output Off / Fault ConditionC Operation C radio control modeOperation Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Pin Input or Number Output Signal DescriptionInput Circuit Description Input Circuit DescriptionSupplied Cable Description RC connection cable Powering the Radio from the controllerConnecting to a Separately Powered Radio Connecting to a Separately Powered RadioWiring when receiver is powered by its own separate battery Operating the Controller in R/C modeReception Watchdog Reception WatchdogJoystick Deadband Programming Transmitter/Receiver Quality ConsiderationsEffect of deadband on joystick position vs. motor speed Command Control CurvesJoystick Calibration Left/Right Tuning AdjustmentData Logging in R/C Mode Data Logging in R/C ModeDB9 Female Analog Control and Operation Analog Control and Operation Connector I/O Pin Assignment Analog ModePin Input or Number Signal Output Description Connecting to a Voltage Source Connecting to a Voltage SourceConnecting a Potentiometer = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer ValueAnalog Deadband Adjustment Analog Deadband AdjustmentData Logging in Analog Mode Power-On SafetyUnder Voltage Safety Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode100 Use and benefits of RS232 Serial RS-232 Controls OperationUse and benefits of RS232 Serial RS-232 Controls and Operation Connector I/O Pin Assignment RS232 ModeExtending the RS232 Cable Cable configurationCable configuration Establishing Manual Communication with a PC Communication SettingsBits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity Roboteq v1.9b 06/01/07 s Entering RS232 from R/C or Analog modeData Logging String in R/C or Analog mode Establishing Manual Communication with a PCCommand Error Commands Acknowledge and Error MessagesRS232 Mode if default Command AcknowledgementWatchdog time-out Controller Commands and QueriesCommand Type Description RS-232 WatchdogSet Accessory Output Set Motor Command ValueSyntax Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel ?m or ?M Query Heatsink TemperaturesQuery Analog Inputs ?r or ?RQuery Digital Inputs Query Battery VoltagesReset Controller Controller Commands and QueriesModify parameter Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameterLocation Description Active after Flash Configuration Parameters ListAccessing & Changing Configuration Parameter in Flash Value Mode See pages Input Control ModeMotor Control Mode Address Access Read/Write Effective After ResetBit Definition See pages Amps LimitAcceleration Input Switches FunctionExponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Default PID Gains Left/Right AdjustReading & Changing Operating Parameters at Runtime Reading & Changing Operating Parameters at RuntimeJoystick Min, Max and Center Values Bit Function Operating Modes RegistersLocation Function Controller Status Register Read/Change PID ValuesPWM Frequency Register Bit Model or Function Bit Fault Condition EffectController Identification Register Current Amps Limit RegistersAX500 Motor Controller User’s Manual 123 124 Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeData Logging Cables Analog and R/C Modes Data Logging String FormatDec Hex Decimal to Hexadecimal Conversion TableDecimal to Hexadecimal Conversion Table UDec Hex AX500 Motor Controller User’s Manual 129 130 System Requirements Using the Roborun Configuration UtilityDownloading and Installing the Utility Using the Roborun Configuration Utility Connecting the Controller to the PCRoborun Frame, Tab and Menu Descriptions Parameter Selection and Setting and Special FunctionsRoborun Frame, Tab and Menu Descriptions Loading, Changing Controller Parameters File and Program Management CommandsView Controller Connector Pinout Getting On-Screen HelpLoading, Changing Controller Parameters Control SettingsMotor Control Mode Input Command AdjustmentPower Settings Joystick Timing Analog or R/C Specific SettingsDeadband Closed Loop Parameters Running the MotorsMeasurement Motor Power settingRunning the Motors Run/Stop ButtonTransmit and Receive Data Real-Time Strip Chart RecorderInput Status and Output Setting Data Logging and TimerLogging Data to Disk Connecting a Joystick Using the ConsoleTerminal Screen Using the ConsoleCommand Entry Send Reset StringLoading and Saving Profiles to Disk Operating the AX500 over a Wired or Wireless LANViewing and Logging Data in Analog and R/C Modes Roboserver screenshot when idle Operating the AX500 over a Wired or Wireless LANUpdating the Encoder Software Updating the Controller’s SoftwareCreating Customized Object Files Objectmaker creates controller firmware with custom defaults148 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mechanical SpecificationsMounting Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisPrecautions to observe Wire Dimensions Wire DimensionsWeight 154