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RoboteQ AX500 manual Closed Loop Speed Mode

Models: AX500

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Page 78

Closed Loop Speed Mode

78

AX500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

Image 78

RoboteQ AX500 manual Closed Loop Speed Mode

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 Do not Connect to a RC Radio with a Battery Attached Important SafetyAvoid Shorts when Mounting Board against Chassis To the BatteryImportant Safety Warnings Quick Start Locating the ConnectorsAX500 What you will needNected to VCon Power Must be conAX500 Quick Start VMot for the controllerConnecting to the Batteries and Motors Connecting to the Batteries and MotorsConnecting to the 15-pin Connector Connecting the R/C RadioSignal Pin RC Mode RS232 Mode Analog Mode Powering On the Controller Powering On the ControllerDefault 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 NumberExploring further AX500 Motor Controller Overview Product DescriptionTechnical features High Efficiency Motor Power Outputs Technical featuresLow Power Consumption Advanced Safety FeaturesData Logging Capabilities Connecting Power and Motors to the Controller Power ConnectionsPower Connections Controller Power Connecting Power and Motors to the ControllerController Powering Schemes Controller Powering SchemesPowering the Controller from a single Battery 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 ChannelWire Length Limits Power Regeneration ConsiderationsElectrical 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 Basic Operation Input Command ModesGeneral Operation Basic OperationOpen Loop, Mixed Speed Control Selecting the Motor Control ModesOpen Loop, Separate Speed Control General OperationClosed 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 Programmable Acceleration OffProgrammable Acceleration Command Control Curves Left / Right Tuning Adjustment Left / Right Tuning AdjustmentExponentiation Parameter Value Selected Curve Parameter Value Speed Adjustment Inverted Operation Emergency Stop using External SwitchActivating Brake Release or Separate Motor Excitation Activating Brake Release or Separate Motor ExcitationSpecial Use of Accessory Digital Inputs Using the Inputs to Activate the Buffered OutputConnecting Sensors and Actuators to Input/Outputs AX500 ConnectionsAX500 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 Temp oC Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog Inputs Resistance kOhmUsing 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 Selecting the Position Mode Closed Loop Position ModeMode Description Mode DescriptionClosed Loop Position Mode Position Sensor SelectionSensor Mounting Feedback Potentiometer wiring in Analog Mode Feedback Potentiometer wiringFeedback Potentiometer wiring in RC or RS232 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 or Encoder Mounting Tachometer wiringClosed Loop Speed Mode 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 Diagnostic LED Normal Fault Condition LED MessagesDiagnostic LED Normal Operation Flashing PatternOutput Off / Fault Condition Normal and Fault Condition LED MessagesC radio control mode C OperationPin Input or Number Output Signal Description Selecting the R/C Input ModeConnector I/O Pin Assignment R/C Mode OperationInput Circuit Description Supplied Cable 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 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 Selecting the Potentiometer Value = U/R = 5V / 1000 Ohms = 0.005A = 5mAAnalog Deadband Adjustment Analog Deadband AdjustmentPower-On Safety Under Voltage SafetyData Logging in Analog Mode Data Logging in Analog Mode Modified Analog cable with RS232 output data logging for PC100 Serial RS-232 Controls Operation Use and benefits of RS232Use and benefits of RS232 Connector I/O Pin Assignment RS232 Mode Serial RS-232 Controls and OperationCable 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 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 sCommand Acknowledgement Commands Acknowledge and Error MessagesRS232 Mode if default Command ErrorRS-232 Watchdog Controller Commands and QueriesCommand Type Description Watchdog time-outSet Motor Command Value Set Accessory OutputQuery Power Applied to Motors Query Amps from Battery to each Motor ChannelSyntax ?r or ?R Query Heatsink TemperaturesQuery Analog Inputs ?m or ?MController Commands and Queries Query Battery VoltagesReset Controller Query Digital InputsRead parameter Accessing & Changing Configuration Parameter in FlashApply Parameter Changes Modify parameterFlash Configuration Parameters List Accessing & Changing Configuration Parameter in FlashLocation Description Active after Address Access Read/Write Effective After Reset Input Control ModeMotor Control Mode Value Mode See pagesAmps Limit Bit Definition See pagesInput Switches Function AccelerationAddress Channel Access Read/Write Effective Instantly RC Joystick or Analog DeadbandExponentiation on Channel 1 and Channel Left/Right Adjust Default PID GainsReading & 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 Current Amps Limit Registers Bit Fault Condition EffectController Identification Register 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 Using the Roborun Configuration Utility Downloading and Installing the UtilitySystem Requirements Connecting the Controller to the PC Using the Roborun Configuration UtilityParameter Selection and Setting and Special Functions Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu Descriptions Getting On-Screen Help File and Program Management CommandsView Controller Connector Pinout Loading, Changing Controller ParametersInput Command Adjustment Control SettingsMotor Control Mode Loading, Changing Controller ParametersPower Settings Analog or R/C Specific Settings DeadbandJoystick Timing Running the Motors Closed Loop ParametersRun/Stop Button Motor Power settingRunning the Motors MeasurementData Logging and Timer Real-Time Strip Chart RecorderInput Status and Output Setting Transmit and Receive DataLogging Data to Disk Using the Console Connecting a JoystickSend Reset String Using the ConsoleCommand Entry Terminal ScreenOperating the AX500 over a Wired or Wireless LAN Viewing and Logging Data in Analog and R/C ModesLoading 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 Specifications Mechanical DimensionsMechanical Dimensions Mechanical Specifications Mounting ConsiderationsThermal Considerations Attaching the Controller Directly to a Chassis Attaching the Controller Directly to a ChassisPrecautions to observe Wire Dimensions WeightWire Dimensions 154