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RoboteQ manual AX500 Motor Controller User’s Manual

Models: AX500

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AX500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

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RoboteQ manual AX500 Motor Controller User’s Manual

Contents

AX500 Dual Channel Digital Motor ControllerAX500 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 Do not Connect to a RC Radio with a Battery Attached Important SafetyAvoid Shorts when Mounting Board against Chassis To the BatteryImportant Safety Warnings Quick Start Locating the ConnectorsAX500 What you will needNected to VCon Power Must be conAX500 Quick Start VMot for the controllerConnecting 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 AX500 Motor Controller Overview Product DescriptionTechnical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Advanced Safety FeaturesData Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Controller Power Connecting Power and Motors to the ControllerController Powering Schemes Controller Powering SchemesPowering the Controller from a single Battery VCon VMot Controller StatusConnecting the Motors Powering the Controller Using a Main and Backup BatterySingle Channel Operation Single Channel OperationPower Fuses Converting the AX500 to Single ChannelElectrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Overvoltage Protection Undervoltage 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 OperationOpen Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General OperationSelecting 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 Programmable Acceleration OffProgrammable Acceleration Command Control Curves Exponentiation Parameter Value Selected Curve Left / Right Tuning AdjustmentLeft / Right Tuning Adjustment Parameter Value Speed Adjustment Inverted Operation Emergency Stop using External SwitchActivating Brake Release or Separate Motor Excitation Activating Brake Release or Separate Motor ExcitationSpecial Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered OutputAX500 Connections Connecting Sensors and Actuators to Input/OutputsAX500 Connections Connecting Sensors and Actuators to Input/Outputs AX500’s Inputs and OutputsSignal Type Use Activated AX500’s Inputs and OutputsPin1 List and Pin AssignmentConnecting devices to Output C Connecting devices to Output CConnecting Switches or Devices to Input E Connecting Switches or Devices to Input FConnecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert InputConnecting Position Potentiometers to Analog Inputs 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 Temp oC Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Resistance kOhmUsing 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 Selecting the Position Mode Closed Loop Position ModeMode Description Mode DescriptionSensor Mounting Closed Loop Position ModePosition Sensor Selection Feedback Potentiometer wiring in Analog Mode Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiringAnalog Feedback on Single Channel Controllers Sensor and Motor Polarity Sensor and Motor PolarityEncoder Error Detection and Protection Adding Safety Limit SwitchesAdding Safety Limit Switches Using Current Limiting as Protection Control Loop DescriptionPID tuning in Position Mode PID tuning in Position ModeClosed Loop Position Mode Closed Loop Speed Mode Selecting the Speed ModeTachometer or Encoder Mounting Tachometer wiringClosed Loop Speed Mode 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 PatternOutput Off / Fault Condition Normal and Fault Condition LED MessagesC radio control mode C OperationPin Input or Number Output Signal Description Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode OperationInput Circuit Description Input Circuit DescriptionSupplied Cable Description Powering the Radio from the controller RC connection cableConnecting to a Separately Powered Radio Connecting to a Separately Powered RadioOperating the Controller in R/C mode Wiring when receiver is powered by its own separate batteryReception Watchdog Reception WatchdogTransmitter/Receiver Quality Considerations Joystick Deadband ProgrammingCommand Control Curves Effect of deadband on joystick position vs. motor speedLeft/Right Tuning Adjustment Joystick CalibrationData 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentData Logging in Analog Mode Power-On SafetyUnder Voltage Safety Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC100 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 OperationExtending 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 Establishing Manual Communication with a PC Entering RS232 from R/C or Analog modeData Logging String in R/C or Analog mode Roboteq v1.9b 06/01/07 sCommand Acknowledgement Commands Acknowledge and Error MessagesRS232 Mode if default Command ErrorRS-232 Watchdog Controller Commands and QueriesCommand Type Description Watchdog time-outSet Motor Command Value Set Accessory OutputSyntax Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel ?r or ?R Query Heatsink TemperaturesQuery Analog Inputs ?m or ?MController Commands and Queries Query Battery VoltagesReset Controller Query Digital InputsRead parameter Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Modify parameterLocation Description Active after Flash Configuration Parameters ListAccessing & Changing Configuration Parameter in Flash Address Access Read/Write Effective After Reset Input Control ModeMotor Control Mode Value Mode See pagesAmps Limit Bit Definition See pagesInput Switches Function AccelerationExponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Left/Right Adjust Default PID GainsReading & 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 Current Amps Limit Registers Bit Fault Condition EffectController Identification Register Bit Model or FunctionAX500 Motor Controller User’s Manual 123 124 Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC ModeAnalog and R/C Modes Data Logging String Format Data Logging CablesDec 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 Connecting the Controller to the PC Using the Roborun Configuration UtilityRoborun Frame, Tab and Menu Descriptions Parameter Selection and Setting and Special FunctionsRoborun Frame, Tab and Menu Descriptions Getting On-Screen Help File and Program Management CommandsView Controller Connector Pinout Loading, Changing Controller ParametersInput Command Adjustment Control SettingsMotor Control Mode Loading, Changing Controller ParametersPower Settings Joystick Timing Analog or R/C Specific SettingsDeadband Running the Motors Closed Loop ParametersRun/Stop Button Motor Power settingRunning the Motors MeasurementData Logging and Timer Real-Time Strip Chart RecorderInput Status and Output Setting Transmit and Receive DataLogging Data to Disk Using the Console Connecting a JoystickSend Reset String Using the ConsoleCommand Entry Terminal ScreenLoading and Saving Profiles to Disk Operating the AX500 over a Wired or Wireless LANViewing and Logging Data in Analog and R/C Modes Operating the AX500 over a Wired or Wireless LAN Roboserver screenshot when idleUpdating the Controller’s Software Updating the Encoder SoftwareObjectmaker creates controller firmware with custom defaults Creating Customized Object Files148 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