RoboteQ AX500 manual Sensor and Motor Polarity

Sensor and Motor Polarity

Feedback Wiring in Analog Mode on Single Channel Controllers

When the controller is configured in Analog mode, the analog input 1 is used for com- mands while the analog input 4 is used for feedback.

2k

2k - 10k

Command

Feedback

14 +5V

5 Ground

11 Ana1

10 Ana2

12 Ana3*

8 Ana4*

FIGURE 39. Pot wiring on Single Channel controllers (SC version) and Analog Command

Analog inputs 3 and 4 have different characteristics than inputs 1 and 2, and so require a lower resistance potentiometer in order to guarantee accuracy.

Important Notice

This wiring is also the one to use when the controller is in Analog mode but switched to RS232 after reset using the method discussed in “Entering RS232 from R/C or Analog mode” on page 105

Sensor and Motor Polarity

The sensor polarity (i.e. which rotation end produces 0 or 5V) is related to the motor’s polarity (i.e. which direction the motor turns when power is applied to it).

In the Position mode, the controller compares the actual position, as measured by the sen- sor, to the desired position. If the motor is not at that position, the controller will apply power to the motor so that it turns towards that destination until reached.

Important Warning:

If there is a polarity mismatch, the motor will turn in the wrong direction and the position will never be reached. The motor will turn continuously with no way of stopping it other than cutting the power or hitting the Emergency Stop button.

Determining the right polarity is best done experimentally using the Roborun utility (see “Using the Roborun Configuration Utility” on page 131) and following these steps:

1.Disconnect the controller’s Motor Power (Vmot terminals).

2.Configure the controller in Position Mode using the PC utility.

AX500 Motor Controller User’s Manual 67