Controller Powering Schemes | RoboteQ AX500 specification

Controller Powering Schemes

The table below shows the state of the controller depending on the voltage applied to Vcon and Vmot.

TABLE 2. Controller status depending on Vcon and Vmot voltage

VCon	VMot	Controller Status
Off	Off	Off

Off	5-24V	Off

8-24V	Off	Controller MCU is On. Controller will communicate but motors
		cannot be activated

8-24V	5-24V	Controller is On and motors are activated

Controller Powering Schemes

Powering the Controller from a single Battery

The diagram on Figure 19 show how to wire the controller to a single battery circuit and how to turn power On and Off.

Motor2
	+
	Power on/off switch
	-
	-
	+
Motor1	Fuse
Motor1

VMot	M1+	M1-	VCon GND GND	GND	M2-	M2+	VMot
VMot	M1+	M1-	VCon GND GND	GND	M2-	M2+	VMot

										12V to 24V
			Controller							Motor Battery

Notes:

-The Battery Power connection are doubled in order to provide the maximum current to the controller. If only one motor is used, only one set of motor power cables needs to be connected.

-Typically, 1 or 2 x 12V batteries are connected in series to reach 12 or 24V respectively.

FIGURE 9. AX500 Electrical Power Wiring Diagram

AX500 Motor Controller User’s Manual

27

Image 27

RoboteQ AX500 Controller Powering Schemes, Powering the Controller from a single Battery, VCon VMot Controller Status

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 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 Connecting to the 15-pin Connector Connecting the R/C RadioSignal Pin RC Mode RS232 Mode Analog Mode Powering On the Controller Powering On the Controller Default 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 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 Connecting Power and Motors to the Controller Power ConnectionsPower 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 Wire Length Limits Power Regeneration ConsiderationsElectrical 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 Basic Operation Input Command ModesGeneral Operation Basic Operation General Operation Selecting the Motor Control ModesOpen Loop, Separate Speed Control Open Loop, Mixed Speed Control Closed 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 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 SwitchActivating Brake Release or Separate Motor Excitation Inverted Operation Using the Inputs to Activate the Buffered Output Special Use of Accessory Digital Inputs Connecting Sensors and Actuators to Input/Outputs AX500 ConnectionsAX500 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 Resistance kOhm Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Temp oC Using 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 ModeMode Description Selecting the Position Mode Closed Loop Position Mode Position Sensor SelectionSensor Mounting 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 Supplied Cable 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 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 Value Analog Deadband Adjustment Analog Deadband Adjustment Power-On Safety Under Voltage SafetyData Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC Data Logging in Analog Mode 100 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 Mode Cable 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 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 Query Power Applied to Motors Query Amps from Battery to each Motor ChannelSyntax ?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 Flash Configuration Parameters List Accessing & Changing Configuration Parameter in FlashLocation Description Active after 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 Address Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Default PID Gains Left/Right Adjust Reading & 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 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 Decimal 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 PC Parameter Selection and Setting and Special Functions Roborun Frame, Tab and Menu DescriptionsRoborun 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 Analog or R/C Specific Settings DeadbandJoystick Timing 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 Operating 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 LAN Updating the Encoder Software Updating the Controller’s Software Creating Customized Object Files Objectmaker creates controller firmware with custom defaults 148 Mechanical Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a Chassis Precautions to observe Wire Dimensions WeightWire Dimensions 154