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RoboteQ AX500 manual Obtaining the Controller’s Software Revision Number

Models: AX500

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Obtaining the Controller’s Software Revision Number

•to update the controller’s software

FIGURE 6. Roborun Utility screen layout

To connect the controller to your PC, use the provided cable. Connect the 15-pin connector to the controller. Connect the 9-pin connector to your PC’s available port (typically COM1) - use a USB to serial adapter if needed. Apply power to the controller to turn it on.

Load your CD or download the latest revision of Roborun software from www.Roboteq.com, install it on your PC and launch the program. The software will auto- matically establish communication with the controller, retrieve the software revision num- ber and present a series of buttons and tabs to enable its various possibilities.

The intuitive Graphical User Interface will let you view and change any of the controller’s parameters. The “Run” tab will present a number of buttons, dials and charts that are used for operating and monitoring the motors.

Obtaining the Controller’s Software Revision Number

One of the unique features of the AX500 is the ability to easily update the controller’s oper- ating software with new revisions downloaded from Roboteq’s web site at www.roboteq.com. This is useful for adding features and/or improving existing ones.

AX500 Motor Controller User’s Manual

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RoboteQ AX500 manual Obtaining the Controller’s Software Revision Number

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 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 MotorsConnecting the R/C Radio Connecting to the 15-pin ConnectorSignal Pin RC Mode RS232 Mode Analog Mode Powering On the Controller Powering On the ControllerConnecting 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 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 FusesPower Regeneration Considerations Wire Length LimitsElectrical 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 Basic Operation Input Command ModesGeneral Operation Basic OperationGeneral Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed ControlClose 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 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 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 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 Resistance kOhm Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Temp oCUsing 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 Mode Description Closed Loop Position ModeMode Description Selecting the Position ModePosition Sensor Selection Closed Loop Position ModeSensor Mounting 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 DescriptionSupplied Cable Description Input Circuit 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 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 = U/R = 5V / 1000 Ohms = 0.005A = 5mA Selecting the Potentiometer ValueAnalog Deadband Adjustment Analog Deadband AdjustmentUnder Voltage Safety Power-On SafetyData Logging in Analog Mode 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 ModeCable 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 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 ValueQuery Amps from Battery to each Motor Channel Query Power Applied to MotorsSyntax ?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 parameterAccessing & Changing Configuration Parameter in Flash Flash Configuration Parameters ListLocation Description Active after Value Mode See pages Input Control ModeMotor Control Mode Address Access Read/Write Effective After ResetBit Definition See pages Amps LimitAcceleration Input Switches FunctionRC Joystick or Analog Deadband Address Channel Access Read/Write Effective InstantlyExponentiation on Channel 1 and Channel Default PID Gains Left/Right AdjustJoystick 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 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 FormatDecimal 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 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 Deadband Analog or R/C Specific SettingsJoystick Timing 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 StringViewing and Logging Data in Analog and R/C Modes Operating the AX500 over a Wired or Wireless LANLoading 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 Dimensions Mechanical SpecificationsMechanical Dimensions Mounting Considerations Mechanical SpecificationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisPrecautions to observe Weight Wire DimensionsWire Dimensions 154