Using the Roborun Configuration Utility | RoboteQ AX500 instruction

SECTION 13 Using the Roborun

Configuration

Utility

A PC-based Configuration Utility is available, free of charge, from Roboteq. This pro- gram makes configuring and operating the AX500 much more intuitive by using pull- down menus, buttons and sliders. The utility can also be used to update the control- ler’s software in the field as described in “Updating the Controller’s Software” on page 146.

System Requirements

To run the utility, the following is need:

•PC compatible computer running Windows 98, Me, 2000, XP or Vista

•An unused serial communication port on the computer with a 9-pin, female connector.

•An Internet connection for downloading the latest version of the Roborun Utility or the Controller’s Software

•5 Megabytes of free disk space

If there is no free serial port available, the Configuration Utility can still run, but it will not be able to communicate with the controller.

If the PC is not equipped with an RS232 serial port, one may be added using an USB to RS232 converter.

Downloading and Installing the Utility

The Configuration Utility is included on the CD that is delivered with the controller or may be obtained from the download page on Roboteq’s web site at www.roboteq.com. It is recommended that you use the downloaded version to be sure that you have the latest update.

•download and run the file robosetup.exe

•follow the instructions displayed on the screen

AX500 Motor Controller User’s Manual

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RoboteQ AX500 manual Using the Roborun Configuration Utility, System Requirements, Downloading and Installing the Utility

Contents

Dual Channel Digital Motor Controller AX500 AX500 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 Attached Important Safety Warnings What you will need Locating the ConnectorsAX500 Quick Start VMot for the controller Power Must be conAX500 Quick Start Nected to VCon Connecting to the Batteries and Motors Connecting to the Batteries and Motors Signal Pin RC Mode RS232 Mode Analog Mode Connecting to the 15-pin ConnectorConnecting the R/C Radio Powering On the Controller Powering On the Controller Parameter 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 Number Exploring further Product Description AX500 Motor Controller Overview Technical features Advanced Safety Features Technical featuresLow Power Consumption High Efficiency Motor Power Outputs Data Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Connecting Power and Motors to the Controller Controller Power VCon VMot Controller Status Controller Powering SchemesPowering the Controller from a single Battery Controller Powering Schemes Powering the Controller Using a Main and Backup Battery Connecting the Motors Single Channel Operation Single Channel Operation Converting the AX500 to Single Channel Power Fuses Electrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Undervoltage Protection Overvoltage 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 General Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed Control Selecting 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 Acceleration Programmable 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 Operation Using the Inputs to Activate the Buffered Output Special Use of Accessory Digital Inputs AX500 Connections Connecting Sensors and Actuators to Input/OutputsAX500 Connections AX500’s Inputs and Outputs Connecting Sensors and Actuators to Input/Outputs AX500’s Inputs and Outputs Signal Type Use Activated List and Pin Assignment Pin1 Connecting devices to Output C Connecting devices to Output C Connecting Switches or Devices to Input F Connecting Switches or Devices to Input E Connecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert Input Analog Inputs Connecting Position Potentiometers to Analog Inputs Ana 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 oC Using 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 Mode Sensor 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 Mode Analog Feedback on Single Channel Controllers Sensor and Motor Polarity Sensor and Motor Polarity Adding Safety Limit Switches Encoder Error Detection and Protection Adding Safety Limit Switches Control Loop Description Using Current Limiting as Protection PID tuning in Position Mode PID tuning in Position Mode Closed Loop Position Mode Selecting the Speed Mode Closed Loop Speed Mode Speed Sensor and Motor Polarity Tachometer wiringClosed Loop Speed Mode Tachometer or Encoder Mounting 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 Operation Flashing Pattern Normal Fault Condition LED MessagesDiagnostic LED Diagnostic LED Normal and Fault Condition LED Messages Output Off / Fault Condition C Operation C radio control mode Operation Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Pin Input or Number Output Signal Description Input Circuit Description Input Circuit DescriptionSupplied Cable Description RC connection cable Powering the Radio from the controller Connecting to a Separately Powered Radio Connecting to a Separately Powered Radio Wiring when receiver is powered by its own separate battery Operating the Controller in R/C mode Reception Watchdog Reception Watchdog Joystick Deadband Programming Transmitter/Receiver Quality Considerations Effect of deadband on joystick position vs. motor speed Command Control Curves Joystick Calibration Left/Right Tuning Adjustment Data Logging in R/C Mode Data Logging in R/C Mode DB9 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 Value Analog Deadband Adjustment Analog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 100 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 Mode Extending 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 PC Command Error Commands Acknowledge and Error MessagesRS232 Mode if default Command Acknowledgement Watchdog time-out Controller Commands and QueriesCommand Type Description RS-232 Watchdog Set Accessory Output Set Motor Command Value Syntax Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel ?m or ?M Query Heatsink TemperaturesQuery Analog Inputs ?r or ?R Query Digital Inputs Query Battery VoltagesReset Controller Controller Commands and Queries Modify parameter Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Read parameter Location 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 Reset Bit Definition See pages Amps Limit Acceleration Input Switches Function Exponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Default PID Gains Left/Right Adjust Reading & 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 Registers AX500 Motor Controller User’s Manual 123 124 Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC Mode Data Logging Cables Analog and R/C Modes Data Logging String Format Dec 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 PC Roborun 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 Help Loading, Changing Controller Parameters Control SettingsMotor Control Mode Input Command Adjustment Power Settings Joystick Timing Analog or R/C Specific SettingsDeadband Closed Loop Parameters Running the Motors Measurement Motor Power settingRunning the Motors Run/Stop Button Transmit and Receive Data Real-Time Strip Chart RecorderInput Status and Output Setting Data Logging and Timer Logging Data to Disk Connecting a Joystick Using the Console Terminal Screen Using the ConsoleCommand Entry Send Reset String Loading 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 LAN Updating the Encoder Software Updating the Controller’s Software Creating Customized Object Files Objectmaker creates controller firmware with custom defaults 148 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mechanical SpecificationsMounting Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a Chassis Precautions to observe Wire Dimensions Wire DimensionsWeight 154