Connecting Power and Motors to the Controller | RoboteQ AX500

Power Connections

SECTION 4

Connecting Power and Motors to the Controller

This section describes the AX500 Controller’s connections to power sources and motors.

Important Warning

Please follow the instructions in this section very carefully. Any problem due to wir- ing errors may have very serious consequences and will not be covered by the prod- uct’s warranty.

Power Connections

The AX500 has three Ground, two Vmot terminals and a Vcon terminal. The power termi- nals are located at the back end of the controller. The various power terminals are identified by markings on the PCB.The power connections to the batteries and motors are shown in the figure below.

AX500 Motor Controller User’s Manual

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RoboteQ AX500 manual Connecting Power and Motors to the Controller, Power Connections

Contents

Dual Channel Digital Motor Controller AX500 AX500 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 Battery Important Safety Warnings AX500 Locating the ConnectorsQuick Start What you will need AX500 Quick Start Power Must be conNected to VCon VMot for the controller Connecting to the Batteries and Motors Connecting to the Batteries and Motors Connecting the R/C Radio Connecting to the 15-pin ConnectorSignal Pin RC Mode RS232 Mode Analog Mode Powering On the Controller Powering On the Controller Connecting 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 Number Exploring further Product Description AX500 Motor Controller Overview Technical features Low Power Consumption Technical featuresHigh Efficiency Motor Power Outputs Advanced Safety Features Data Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Connecting Power and Motors to the Controller Controller Power Powering the Controller from a single Battery Controller Powering SchemesController Powering Schemes VCon VMot Controller Status 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 Power Regeneration Considerations Wire Length LimitsElectrical Noise Reduction Techniques 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 General Operation Input Command ModesBasic Operation Basic Operation Open Loop, Separate Speed Control Selecting the Motor Control ModesOpen Loop, Mixed Speed Control General Operation Close 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 Acceleration Programmable 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 Excitation 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 Connecting 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 kOhm Using 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 ModeSelecting the Position Mode Mode Description Position Sensor Selection Closed Loop Position ModeSensor Mounting Feedback Potentiometer wiring in RC or RS232 Mode Feedback Potentiometer wiringFeedback Potentiometer wiring in Analog Mode Feedback Potentiometer wiring 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 Closed Loop Speed Mode Tachometer wiringTachometer or Encoder Mounting Speed Sensor and Motor Polarity 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 Diagnostic LED Normal Fault Condition LED MessagesDiagnostic LED Normal Operation Flashing Pattern Normal and Fault Condition LED Messages Output Off / Fault Condition C Operation C radio control mode Connector I/O Pin Assignment R/C Mode Selecting the R/C Input ModePin Input or Number Output Signal Description Operation Supplied Cable Description Input Circuit DescriptionInput Circuit 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 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 Value Analog Deadband Adjustment Analog Deadband Adjustment Under Voltage Safety Power-On SafetyData Logging in Analog Mode 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 Cable 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 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 s RS232 Mode if default Commands Acknowledge and Error MessagesCommand Acknowledgement Command Error Command Type Description Controller Commands and QueriesRS-232 Watchdog Watchdog time-out Set Accessory Output Set Motor Command Value Query Amps from Battery to each Motor Channel Query Power Applied to MotorsSyntax Query Analog Inputs Query Heatsink Temperatures?r or ?R ?m or ?M Reset Controller Query Battery VoltagesController Commands and Queries Query Digital Inputs Apply Parameter Changes Accessing & Changing Configuration Parameter in FlashRead parameter Modify parameter Accessing & Changing Configuration Parameter in Flash Flash Configuration Parameters ListLocation Description Active after Motor Control Mode Input Control ModeAddress Access Read/Write Effective After Reset Value Mode See pages Bit Definition See pages Amps Limit Acceleration Input Switches Function RC Joystick or Analog Deadband Address Channel Access Read/Write Effective InstantlyExponentiation on Channel 1 and Channel Default PID Gains Left/Right Adjust Joystick 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 Controller Identification Register Bit Fault Condition EffectCurrent Amps Limit Registers Bit Model or Function 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 Decimal 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 PC Roborun Frame, Tab and Menu Descriptions Parameter Selection and Setting and Special FunctionsRoborun Frame, Tab and Menu Descriptions View Controller Connector Pinout File and Program Management CommandsGetting On-Screen Help Loading, Changing Controller Parameters Motor Control Mode Control SettingsInput Command Adjustment Loading, Changing Controller Parameters Power Settings Deadband Analog or R/C Specific SettingsJoystick Timing Closed Loop Parameters Running the Motors Running the Motors Motor Power settingRun/Stop Button Measurement Input Status and Output Setting Real-Time Strip Chart RecorderData Logging and Timer Transmit and Receive Data Logging Data to Disk Connecting a Joystick Using the Console Command Entry Using the ConsoleSend Reset String Terminal Screen Viewing 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 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 Mounting Considerations Mechanical SpecificationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a Chassis Precautions to observe Weight Wire DimensionsWire Dimensions 154