Connecting Sensors and Actuators to Input/Outputs | RoboteQ AX500

Connecting Sensors and Actuators to Input/Outputs

62

AX500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

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RoboteQ AX500 manual Connecting Sensors and Actuators to Input/Outputs

Contents

AX500 Dual Channel Digital Motor Controller AX500 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 Battery Important Safety Warnings Quick Start Locating the ConnectorsAX500 What you will need Nected to VCon Power Must be conAX500 Quick Start VMot for the controller Connecting to the Batteries and Motors Connecting to the Batteries and Motors Signal Pin RC Mode RS232 Mode Analog Mode Connecting to the 15-pin ConnectorConnecting the R/C Radio Powering On the Controller Powering On the Controller Parameter 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 Number Exploring further AX500 Motor Controller Overview Product Description Technical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Advanced Safety Features Data Logging Capabilities Power Connections Connecting Power and Motors to the ControllerPower Connections Controller Power Connecting Power and Motors to the Controller Controller Powering Schemes Controller Powering SchemesPowering the Controller from a single Battery VCon VMot Controller Status Connecting the Motors Powering the Controller Using a Main and Backup Battery Single Channel Operation Single Channel Operation Power Fuses Converting the AX500 to Single Channel Electrical Noise Reduction Techniques Wire Length LimitsPower Regeneration Considerations Overvoltage Protection Undervoltage 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 Open Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General Operation Selecting 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 Off Programmable 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 Excitation Special Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered Output AX500 Connections Connecting Sensors and Actuators to Input/OutputsAX500 Connections Connecting Sensors and Actuators to Input/Outputs AX500’s Inputs and Outputs Signal Type Use Activated AX500’s Inputs and Outputs Pin1 List and Pin Assignment Connecting devices to Output C Connecting devices to Output C Connecting Switches or Devices to Input E Connecting Switches or Devices to Input F Connecting Switches or Devices to EStop/Invert Input Connecting Switches or Devices to EStop/Invert Input Connecting Position Potentiometers to Analog Inputs Analog Inputs Ana 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 kOhm Using 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 Description Sensor 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 wiring Analog Feedback on Single Channel Controllers Sensor and Motor Polarity Sensor and Motor Polarity Encoder Error Detection and Protection Adding Safety Limit Switches Adding Safety Limit Switches Using Current Limiting as Protection Control Loop Description PID tuning in Position Mode PID tuning in Position Mode Closed Loop Position Mode Closed Loop Speed Mode Selecting the Speed Mode Tachometer or Encoder Mounting Tachometer wiringClosed Loop Speed Mode 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 Output Off / Fault Condition Normal and Fault Condition LED Messages C radio control mode C Operation Pin Input or Number Output Signal Description Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode Operation Input Circuit Description Input Circuit DescriptionSupplied Cable Description Powering the Radio from the controller RC connection cable Connecting to a Separately Powered Radio Connecting to a Separately Powered Radio Operating the Controller in R/C mode Wiring when receiver is powered by its own separate battery Reception Watchdog Reception Watchdog Transmitter/Receiver Quality Considerations Joystick Deadband Programming Command Control Curves Effect of deadband on joystick position vs. motor speed Left/Right Tuning Adjustment Joystick Calibration Data Logging in R/C Mode Data Logging in R/C Mode DB9 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 = 5mA Analog Deadband Adjustment Analog Deadband Adjustment Data Logging in Analog Mode Power-On SafetyUnder Voltage Safety Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC 100 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 Operation Extending 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 s Command Acknowledgement Commands Acknowledge and Error MessagesRS232 Mode if default Command Error RS-232 Watchdog Controller Commands and QueriesCommand Type Description Watchdog time-out Set Motor Command Value Set Accessory Output Syntax Query Power Applied to MotorsQuery Amps from Battery to each Motor Channel ?r or ?R Query Heatsink TemperaturesQuery Analog Inputs ?m or ?M Controller Commands and Queries Query Battery VoltagesReset Controller Query Digital Inputs Read parameter Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Modify parameter Location 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 pages Amps Limit Bit Definition See pages Input Switches Function Acceleration Exponentiation on Channel 1 and Channel Address Channel Access Read/Write Effective InstantlyRC Joystick or Analog Deadband Left/Right Adjust Default PID Gains Reading & 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 Function AX500 Motor Controller User’s Manual 123 124 Automatic Switching from RS232 to RC Mode Automatic Switching from RS232 to RC Mode Analog and R/C Modes Data Logging String Format Data Logging Cables Dec 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 Utility Roborun 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 Parameters Input Command Adjustment Control SettingsMotor Control Mode Loading, Changing Controller Parameters Power Settings Joystick Timing Analog or R/C Specific SettingsDeadband Running the Motors Closed Loop Parameters Run/Stop Button Motor Power settingRunning the Motors Measurement Data Logging and Timer Real-Time Strip Chart RecorderInput Status and Output Setting Transmit and Receive Data Logging Data to Disk Using the Console Connecting a Joystick Send Reset String Using the ConsoleCommand Entry Terminal Screen Loading 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 idle Updating the Controller’s Software Updating the Encoder Software Objectmaker creates controller firmware with custom defaults Creating Customized Object Files 148 Mechanical Dimensions Mechanical SpecificationsMechanical Dimensions Thermal Considerations Mechanical SpecificationsMounting Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a Chassis Precautions to observe Wire Dimensions Wire DimensionsWeight 154