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RoboteQ AX500 manual Wire Dimensions, Weight

Models: AX500

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Wire Dimensions

Wire Dimensions

The AX500 uses screw terminals for the power connections to the batteries and motors. These connectors are rated to support the controller’s maximum specified current. It is rec- ommended that you use AWG 14 wire for all power connections to ground, batteries and motors. VCon wire and its return Ground may be much thinner as they will never carry cur- rent in excess of a couple of milliamperes.

Weight

Controller weight is 3.0oz (85g

AX500 Motor Controller User’s Manual

153

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RoboteQ AX500 manual Wire Dimensions, Weight

Contents

Dual Channel Digital Motor Controller AX500AX500 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 Avoid Shorts when Mounting Board against Chassis Important SafetyDo not Connect to a RC Radio with a Battery Attached To the BatteryImportant Safety Warnings AX500 Locating the ConnectorsQuick Start What you will needAX500 Quick Start Power Must be conNected to VCon VMot for the controllerConnecting to the Batteries and Motors Connecting to the Batteries and MotorsConnecting to the 15-pin Connector Connecting the R/C RadioSignal Pin RC Mode RS232 Mode Analog Mode Powering On the Controller Powering On the ControllerDefault Controller Configuration Connecting the controller to your PC using RoborunParameter Default Values Letter Obtaining the Controller’s Software Revision Number Obtaining the Controller’s Software Revision NumberExploring further Product Description AX500 Motor Controller OverviewTechnical features Low Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Advanced Safety FeaturesData Logging Capabilities Connecting Power and Motors to the Controller Power ConnectionsPower Connections Connecting Power and Motors to the Controller Controller PowerPowering the Controller from a single Battery Controller Powering SchemesController Powering Schemes VCon VMot Controller StatusPowering the Controller Using a Main and Backup Battery Connecting the MotorsSingle Channel Operation Single Channel OperationConverting the AX500 to Single Channel Power FusesWire Length Limits Power Regeneration ConsiderationsElectrical Noise Reduction Techniques Undervoltage Protection Overvoltage ProtectionUsing the Controller with a Power Supply Using the Controller with a Power SupplyConnecting Power and Motors to the Controller General Operation Input Command ModesBasic Operation Basic OperationOpen Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General OperationClosed Loop Speed Control Close Loop Position ControlSelecting the Motor Control Modes User Selected Current Limit Settings Temperature-Based Current LimitationTemperature Max Amps Battery Current vs. Motor Current Battery Current vs. Motor CurrentMotor Current = Battery Current / PWM ratio Off Programmable AccelerationProgrammable Acceleration Command 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 Stop using External SwitchInverted Operation Activating Brake Release or Separate Motor ExcitationUsing the Inputs to Activate the Buffered Output Special Use of Accessory Digital InputsConnecting Sensors and Actuators to Input/Outputs AX500 ConnectionsAX500 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 InputsConnecting 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 kOhmUsing the Analog Inputs to Monitor External Voltages Connecting User Devices to Analog Inputs Internal Heatsink Temperature SensorsInternal Voltage Monitoring Sensors Temperature Conversion C Source Code Internal Heatsink Temperature Sensors Connecting Sensors and Actuators to Input/Outputs Mode Description Closed Loop Position ModeSelecting the Position Mode Mode DescriptionClosed Loop Position Mode Position Sensor SelectionSensor Mounting Feedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiringFeedback Potentiometer wiring in Analog Mode Feedback Potentiometer wiringAnalog 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 ModeClosed Loop Speed Mode Tachometer wiringTachometer or Encoder Mounting Speed Sensor and Motor PolarityAdjust Offset and Max Speed Adjust Offset and Max SpeedControl Loop Description PID tuning in Speed Mode PID tuning in Speed ModeClosed Loop Speed Mode Diagnostic LED Normal Fault Condition LED MessagesDiagnostic LED Normal Operation Flashing PatternNormal and Fault Condition LED Messages Output Off / Fault ConditionC Operation C radio control modeConnector I/O Pin Assignment R/C Mode Selecting the R/C Input ModePin Input or Number Output Signal Description OperationInput Circuit Description Supplied Cable DescriptionInput Circuit 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 Connector I/O Pin Assignment Analog Mode Pin Input or Number Signal Output DescriptionAnalog Control and Operation Connecting to a Voltage Source Connecting a PotentiometerConnecting to a Voltage Source = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer ValueAnalog Deadband Adjustment Analog Deadband AdjustmentPower-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode100 Serial RS-232 Controls Operation Use and benefits of RS232Use and benefits of RS232 Serial RS-232 Controls and Operation Connector I/O Pin Assignment RS232 ModeCable configuration Cable configurationExtending the RS232 Cable Communication Settings Bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even ParityEstablishing Manual Communication with a PC Data Logging String in R/C or Analog mode Entering RS232 from R/C or Analog modeEstablishing Manual Communication with a PC Roboteq v1.9b 06/01/07 sRS232 Mode if default Commands Acknowledge and Error MessagesCommand Acknowledgement Command ErrorCommand Type Description Controller Commands and QueriesRS-232 Watchdog Watchdog time-outSet Accessory Output Set Motor Command ValueQuery Power Applied to Motors Query Amps from Battery to each Motor ChannelSyntax Query Analog Inputs Query Heatsink Temperatures?r or ?R ?m or ?MReset Controller Query Battery VoltagesController Commands and Queries Query Digital InputsApply Parameter Changes Accessing & Changing Configuration Parameter in FlashRead parameter Modify parameterFlash Configuration Parameters List Accessing & Changing Configuration Parameter in FlashLocation Description Active after Motor Control Mode Input Control ModeAddress Access Read/Write Effective After Reset Value Mode See pagesBit Definition See pages Amps LimitAcceleration Input Switches FunctionAddress Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Default PID Gains Left/Right AdjustReading & Changing Operating Parameters at Runtime Joystick Min, Max and Center ValuesReading & Changing Operating Parameters at Runtime Operating Modes Registers Location FunctionBit Function Read/Change PID Values PWM Frequency RegisterController Status Register Controller Identification Register Bit Fault Condition EffectCurrent Amps Limit Registers Bit Model or FunctionAX500 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 FormatDecimal to Hexadecimal Conversion Table Decimal to Hexadecimal Conversion TableDec Hex UDec Hex AX500 Motor Controller User’s Manual 129 130 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements Using the Roborun Configuration Utility Connecting the Controller to the PCParameter Selection and Setting and Special Functions Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu Descriptions View Controller Connector Pinout File and Program Management CommandsGetting On-Screen Help Loading, Changing Controller ParametersMotor Control Mode Control SettingsInput Command Adjustment Loading, Changing Controller ParametersPower Settings Analog or R/C Specific Settings DeadbandJoystick Timing Closed Loop Parameters Running the MotorsRunning the Motors Motor Power settingRun/Stop Button MeasurementInput Status and Output Setting Real-Time Strip Chart RecorderData Logging and Timer Transmit and Receive DataLogging Data to Disk Connecting a Joystick Using the ConsoleCommand Entry Using the ConsoleSend Reset String Terminal ScreenOperating the AX500 over a Wired or Wireless LAN Viewing and Logging Data in Analog and R/C ModesLoading and Saving Profiles to Disk 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 Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisPrecautions to observe Wire Dimensions WeightWire Dimensions 154