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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 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 Important Safety Avoid Shorts when Mounting Board against ChassisDo not Connect to a RC Radio with a Battery Attached To the BatteryImportant Safety Warnings Locating the Connectors AX500Quick Start What you will needPower Must be con AX500 Quick StartNected to VCon VMot for the controllerConnecting 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 AX500 Motor Controller Overview Product DescriptionTechnical features Technical features Low Power ConsumptionHigh Efficiency Motor Power Outputs 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 Powering the Controller from a single BatteryController Powering Schemes 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 ChannelPower Regeneration Considerations Wire Length LimitsElectrical Noise Reduction Techniques Overvoltage Protection Undervoltage ProtectionUsing the Controller with a Power Supply Using the Controller with a Power SupplyConnecting Power and Motors to the Controller Input Command Modes General OperationBasic Operation Basic OperationSelecting the Motor Control Modes Open Loop, Separate Speed ControlOpen Loop, Mixed Speed Control General OperationClose 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 Programmable Acceleration OffProgrammable Acceleration Command Control Curves Left / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Parameter Value Speed Adjustment Emergency Stop using External Switch Activating Brake Release or Separate Motor ExcitationInverted Operation 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 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 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 Closed Loop Position Mode Mode DescriptionSelecting the Position Mode Mode DescriptionPosition Sensor Selection Closed Loop Position ModeSensor Mounting Feedback Potentiometer wiring Feedback Potentiometer wiring in RC or RS232 ModeFeedback Potentiometer wiring in Analog 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 wiring Closed Loop Speed ModeTachometer 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 Normal Fault Condition LED Messages Diagnostic LEDDiagnostic LED Normal Operation Flashing PatternOutput Off / Fault Condition Normal and Fault Condition LED MessagesC radio control mode C OperationSelecting the R/C Input Mode Connector I/O Pin Assignment R/C ModePin Input or Number Output Signal Description OperationSupplied Cable Description Input Circuit DescriptionInput Circuit 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 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentUnder Voltage Safety Power-On SafetyData Logging in Analog Mode 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 OperationCable 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 Entering RS232 from R/C or Analog mode Data Logging String in R/C or Analog modeEstablishing Manual Communication with a PC Roboteq v1.9b 06/01/07 sCommands Acknowledge and Error Messages RS232 Mode if defaultCommand Acknowledgement Command ErrorController Commands and Queries Command Type DescriptionRS-232 Watchdog Watchdog time-outSet Motor Command Value Set Accessory OutputQuery Amps from Battery to each Motor Channel Query Power Applied to MotorsSyntax Query Heatsink Temperatures Query Analog Inputs?r or ?R ?m or ?MQuery Battery Voltages Reset ControllerController Commands and Queries Query Digital InputsAccessing & Changing Configuration Parameter in Flash Apply Parameter ChangesRead parameter Modify parameterAccessing & Changing Configuration Parameter in Flash Flash Configuration Parameters ListLocation Description Active after Input Control Mode Motor Control ModeAddress Access Read/Write Effective After Reset Value Mode See pagesAmps Limit Bit Definition See pagesInput Switches Function AccelerationRC Joystick or Analog Deadband Address Channel Access Read/Write Effective InstantlyExponentiation on Channel 1 and Channel Left/Right Adjust Default PID GainsJoystick 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 Fault Condition Effect Controller Identification RegisterCurrent 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 ModeAnalog and R/C Modes Data Logging String Format Data Logging CablesDecimal 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 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 File and Program Management Commands View Controller Connector PinoutGetting On-Screen Help Loading, Changing Controller ParametersControl Settings Motor Control ModeInput Command Adjustment Loading, Changing Controller ParametersPower Settings Deadband Analog or R/C Specific SettingsJoystick Timing Running the Motors Closed Loop ParametersMotor Power setting Running the MotorsRun/Stop Button MeasurementReal-Time Strip Chart Recorder Input Status and Output SettingData Logging and Timer Transmit and Receive DataLogging Data to Disk Using the Console Connecting a JoystickUsing the Console Command EntrySend Reset String Terminal ScreenViewing and Logging Data in Analog and R/C Modes Operating the AX500 over a Wired or Wireless LANLoading and Saving Profiles to Disk 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 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