RoboteQ Dual Channel Digital Motor Controller AX500 Manual do Utilizador

AX500Dual ChannelDigital MotorController User’s Manualv1.9b, June 1, 2007visit www.roboteq.com to download the latest revision of this manual©Copyrigh

10 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Logging Data to Disk 141Connecting a Joystick 142Using the Console 143Viewing and L

Analog Control and Operation100 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Motor Controller User’s Manual 101Use and benefits of RS232SECTION 11 Serial (RS-232) Controls and OperationThis section describes the communica

Serial (RS-232) Controls and Operation102 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connector I/O Pin Assignment (RS232 Mode)Whe

AX500 Motor Controller User’s Manual 103Cable configurationCable configurationThe RS232 connection requires the special cabling as described in the fi

Serial (RS-232) Controls and Operation104 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Communication SettingsThe AX500 serial commu

AX500 Motor Controller User’s Manual 105Establishing Manual Communication with a PCCOM1port. You can easily change this setting to a different port fr

Serial (RS-232) Controls and Operation106 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007After this information is sent, the Encoder’

AX500 Motor Controller User’s Manual 107Commands Acknowledge and Error MessagesRS232 Mode if defaultIf the controller is configured in RS232 mode, it

Serial (RS-232) Controls and Operation108 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007RS-232 WatchdogFor applications demanding th

AX500 Motor Controller User’s Manual 109Controller Commands and QueriesSet Motor Command ValueDescription:Send a speed of position value from 0 to 127

AX500 Motor Controller User’s Manual 11SECTION 0 Important Safety WarningsRead this Section FirstThe AX500 is a power electronics device. Serious dama

Serial (RS-232) Controls and Operation110 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Query Power Applied to MotorsDescription:Thi

AX500 Motor Controller User’s Manual 111Controller Commands and QueriesQuery Analog InputsDescription:This query will cause the controller to return t

Serial (RS-232) Controls and Operation112 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007ond is the internal 12V supply needed for th

AX500 Motor Controller User’s Manual 113Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in F

Serial (RS-232) Controls and Operation114 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Reply: + Success, changed parameters are now

AX500 Motor Controller User’s Manual 115Accessing & Changing Configuration Parameter in FlashThese parameters are stored in the controller’s Flash

Serial (RS-232) Controls and Operation116 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007This parameters selects the various open loo

AX500 Motor Controller User’s Manual 117Accessing & Changing Configuration Parameter in FlashInput Switches FunctionAddress: ^04Access: Read/Write

Serial (RS-232) Controls and Operation118 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007RC Joystick or Analog DeadbandAddress: ^06Ac

AX500 Motor Controller User’s Manual 119Accessing & Changing Configuration Parameter in FlashThis parameter configures the compensation curve when

Important Safety Warnings12 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Serial (RS-232) Controls and Operation120 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Default PID GainsAddress: ^0F - Proportional

AX500 Motor Controller User’s Manual 121Reading & Changing Operating Parameters at RuntimeGains values are integer number from 0 to 63. This numbe

Serial (RS-232) Controls and Operation122 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important Notice:Do not write in the locatio

AX500 Motor Controller User’s Manual 123Reading & Changing Operating Parameters at RuntimeActual Gain value is the value contained in the register

Serial (RS-232) Controls and Operation124 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller Identification RegisterAddress: ^

AX500 Motor Controller User’s Manual 125Automatic Switching from RS232 to RC ModeAutomatic Switching from RS232 to RC ModeIn many computer controlled

126 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller is on, Radio is turned Off (or Radio On with RC ch3 Off)• Relay deactiv

AX500 Motor Controller User’s Manual 127Decimal to Hexadecimal Conversion Tablelogging purposes. This cable has a 15-pin male connector and 3 15-pin c

128 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 20075 0537256945101656 0638267046102667 0739277147103678 0840287248104689 094129734910

AX500 Motor Controller User’s Manual 129Decimal to Hexadecimal Conversion Table-121 135 87 -89 167 A7 -57 199 C7 -25 231 E7-120 136 88 -88 168 A8 -56

AX500 Motor Controller User’s Manual 13SECTION 1 AX500Quick StartThis section will give you the basic information needed to quickly install, setup and

130 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Motor Controller User’s Manual 131SECTION 13 Using the Roborun Configuration UtilityA PC-based Configuration Utility is available, free of charg

Using the Roborun Configuration Utility132 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007• after the installation is complete, run t

AX500 Motor Controller User’s Manual 133Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu DescriptionsThe Roborun screen contains th

Using the Roborun Configuration Utility134 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007This is the program’s main frame and includ

AX500 Motor Controller User’s Manual 135Loading, Changing Controller ParametersWhen starting Roborun, this screen is filled with the default values. I

Using the Roborun Configuration Utility136 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 20074- Emergency Stop or Invert Switch SelectTh

AX500 Motor Controller User’s Manual 137Loading, Changing Controller Parametersaccelerate a motor from idle to maximum speed. See “Programmable Accele

Using the Roborun Configuration Utility138 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Closed Loop ParametersThe screen shown in F

AX500 Motor Controller User’s Manual 139Running the MotorsRunning the MotorsThe Roborun utility will let you exercise and monitor the motors, sensors

AX500 Quick Start14 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The front side contains the 15-pin connector to the R/C radio, joy

Using the Roborun Configuration Utility140 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The Amps field reports the current measured

AX500 Motor Controller User’s Manual 141Running the Motors6- Input Status and Output SettingThis section includes two check boxes and three color squa

Using the Roborun Configuration Utility142 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007line of the save file contains the Header n

AX500 Motor Controller User’s Manual 143Using the ConsoleA joystick test program name “Joytest” is automatically installed in the Start menu when inst

Using the Roborun Configuration Utility144 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007troller Commands and Queries” on page 108 f

AX500 Motor Controller User’s Manual 145Operating the AX500 over a Wired or Wireless LANOperating the AX500 over a Wired or Wireless LANThe Roborun ut

Using the Roborun Configuration Utility146 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Note that it is not possible to use this co

AX500 Motor Controller User’s Manual 147Creating Customized Object FilesNotes:The Updating utility will automatically detect whether the new software

Using the Roborun Configuration Utility148 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Creating a custom object file can easily be

AX500 Motor Controller User’s Manual 149Mechanical DimensionsSECTION 14 Mechanical SpecificationsThis section details the mechanical characteristics o

AX500 Motor Controller User’s Manual 15Connecting to the Batteries and MotorsConnecting to the Batteries and MotorsConnection to the batteries and mot

Mechanical Specifications150 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Mounting ConsiderationsThe AX500’s heatsink is located at

AX500 Motor Controller User’s Manual 151Attaching the Controller Directly to a Chassisboard against a vertical surface as shown in the figure below wi

Mechanical Specifications152 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Note that the back of the PCB has large copper areas expo

AX500 Motor Controller User’s Manual 153Wire DimensionsWire DimensionsThe AX500 uses screw terminals for the power connections to the batteries and mo

Mechanical Specifications154 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Quick Start16 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningThe controller includes large capacitors. When co

AX500 Motor Controller User’s Manual 17Powering On the ControllerThis wiring - with the wire loop uncut - assumes that the R/C radio will be powered b

AX500 Quick Start18 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The status LED will start flashing a pattern to indicate the mode

AX500 Motor Controller User’s Manual 19Obtaining the Controller’s Software Revision Number• to update the controller’s softwareTo connect the controll

2 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Quick Start20 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Each software version is identified with a unique number. Obtainin

AX500 Motor Controller User’s Manual 21SECTION 2 AX500 Motor Controller OverviewCongratulations! By selecting Roboteq’s AX500 you have empowered yours

AX500 Motor Controller Overview22 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007ate from 12 to 24VDC and can sustain up to 15A of co

AX500 Motor Controller User’s Manual 23Technical features• User defined purpose (RS232 mode only)• One Switch input configurable as• Emergency stop co

AX500 Motor Controller Overview24 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007• Watchdog for automatic motor shutdown in case of c

AX500 Motor Controller User’s Manual 25Power ConnectionsSECTION 3 Connecting Power and Motors to the ControllerThis section describes the AX500 Contro

Connecting Power and Motors to the Controller26 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller PowerThe AX500 uses a flexi

AX500 Motor Controller User’s Manual 27Controller Powering SchemesThe table below shows the state of the controller depending on the voltage applied t

Connecting Power and Motors to the Controller28 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007There is no need to insert a separate

AX500 Motor Controller User’s Manual 29Single Channel OperationIn Closed Loop Speed or Position mode, beware that the motor polarity must match this o

AX500 Motor Controller User’s Manual 3Revision HistoryThe information contained in this manual is believed to be accurate and reliable. However, it ma

Connecting Power and Motors to the Controller30 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007• Disconnect the controller from power

AX500 Motor Controller User’s Manual 31Wire Length LimitsFuses are typically slow to blow and will thus allow temporary excess current to flow through

Connecting Power and Motors to the Controller32 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007It is therefore essential that the AX5

AX500 Motor Controller User’s Manual 33Using the Controller with a Power SupplyUsing the Controller with a Power SupplyUsing a transformer or a switch

Connecting Power and Motors to the Controller34 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Motor Controller User’s Manual 35Basic OperationSECTION 4 General OperationThis section discusses the controller’s normal operation in all its s

General Operation36 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Selecting the Motor Control ModesFor each motor, the AX500 support

AX500 Motor Controller User’s Manual 37Selecting the Motor Control ModesClosed Loop Speed ControlIn this mode, illustrated in Figure 16, an analog tac

General Operation38 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007User Selected Current Limit SettingsThe AX500 has current sensors

AX500 Motor Controller User’s Manual 39Battery Current vs. Motor CurrentThe numbers in the table are the max Amps allowed by the controller at a given

4 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

General Operation40 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The relation between Battery Current and Motor current is given in

AX500 Motor Controller User’s Manual 41Programmable AccelerationProgrammable AccelerationWhen changing speed command, the AX500 will go from the prese

General Operation42 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007When configuring the acceleration parameter using the Roborun util

AX500 Motor Controller User’s Manual 43Left / Right Tuning AdjustmentThe AX500 is delivered with the “linear” curves selected for both joystick channe

General Operation44 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007is found on all R/C transmitters, and which is actually an offset

AX500 Motor Controller User’s Manual 45Activating Brake Release or Separate Motor ExcitationActivating Brake Release or Separate Motor ExcitationThe c

General Operation46 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Special Use of Accessory Digital InputsThe AX500 includes two gene

AX500 Motor Controller User’s Manual 47AX500 ConnectionsSECTION 5 Connecting Sensors and Actuators to Input/OutputsThis section describes the various

Connecting Sensors and Actuators to Input/Outputs48 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007AX500’s Inputs and OutputsIn addit

AX500 Motor Controller User’s Manual 49AX500’s Inputs and OutputsWhen the controller operates in modes that do not use these I/O, these signals become

AX500 Motor Controller User’s Manual 5Revision History 3SECTION 0 Important Safety Warnings 11This product is intended for use with rechargeable batt

Connecting Sensors and Actuators to Input/Outputs50 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007I/O List and Pin AssignmentThe fig

AX500 Motor Controller User’s Manual 51Connecting devices to Output C**These connections should only be done in RS232 mode or R/C mode with radio pow-

Connecting Sensors and Actuators to Input/Outputs52 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important warning: This output is

AX500 Motor Controller User’s Manual 53Connecting Switches or Devices to EStop/Invert InputThe status of Input F can be read in the RS232 mode with th

Connecting Sensors and Actuators to Input/Outputs54 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The status of the EStop/Inv can be

AX500 Motor Controller User’s Manual 55Connecting Tachometer to Analog InputsConnecting the potentiometer to the controller is as simple as shown in t

Connecting Sensors and Actuators to Input/Outputs56 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007eter is used to scale the tachomet

AX500 Motor Controller User’s Manual 57Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog InputsUsing external th

Connecting Sensors and Actuators to Input/Outputs58 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007To read the temperature, use the ?

AX500 Motor Controller User’s Manual 59Connecting User Devices to Analog Inputs Measured volts = ((controller reading + 128) * 0.255) -5Note: The

6 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007SECTION 4 General Operation 35Basic Operation 35Input Command Modes 35Selecting the

Connecting Sensors and Actuators to Input/Outputs60 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007using the ?m query, or during data

AX500 Motor Controller User’s Manual 61Internal Heatsink Temperature SensorsHiTemp = LoTemp + 5;lobound = TempTable[i];hibound = TempTable[i+1];temp =

Connecting Sensors and Actuators to Input/Outputs62 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Motor Controller User’s Manual 63Mode DescriptionSECTION 6 Closed Loop Position ModeThis section describes the AX500 Position mode, how to wire

Closed Loop Position Mode64 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Position Sensor SelectionThe AX500 may be used with the fo

AX500 Motor Controller User’s Manual 65Feedback Potentiometer wiringmanner that will allow it to turn throughout much of its range, when the mechanica

Closed Loop Position Mode66 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007 Roborun will detect the new hardware revision and display

AX500 Motor Controller User’s Manual 67Sensor and Motor PolarityFeedback Wiring in Analog Mode on Single Channel ControllersWhen the controller is con

Closed Loop Position Mode68 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 20072. Configure the controller in Position Mode using the PC

AX500 Motor Controller User’s Manual 69Adding Safety Limit SwitchesAdding Safety Limit SwitchesThe Position mode depends on the position sensor provid

AX500 Motor Controller User’s Manual 7Selecting the Position Mode 63Position Sensor Selection 64Sensor Mounting 64Feedback Potentiometer wiring 65Feed

Closed Loop Position Mode70 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007required for each motor. Additional switches may be added

AX500 Motor Controller User’s Manual 71PID tuning in Position ModeThe resulting error value is then multiplied by a user selectable Proportional Gain.

Closed Loop Position Mode72 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007tuned PID is a motor that reaches the desired position qui

AX500 Motor Controller User’s Manual 73Mode DescriptionSECTION 7 Closed Loop Speed ModeThis section discusses the AX500 Close Loop Speed mode. Mode De

Closed Loop Speed Mode74 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Tachometer or Encoder MountingProper mounting of the speed se

AX500 Motor Controller User’s Manual 75Adjust Offset and Max SpeedImportant Warning:If there is a polarity mismatch, the motor will turn in the wrong

Closed Loop Speed Mode76 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007To set the potentiometer, use the Roborun utility to run the

AX500 Motor Controller User’s Manual 77PID tuning in Speed ModePID tuning in Speed ModeAs discussed above, three parameters - Proportional Gain, Integ

Closed Loop Speed Mode78 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX500 Motor Controller User’s Manual 79Diagnostic LEDSECTION 8 Normal and Fault Condition LED MessagesThis section discusses the meaning of the variou

8 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Operating the Controller in R/C mode 86Reception Watchdog 87R/C Transmitter/Receiver

Normal and Fault Condition LED Messages80 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Output Off / Fault ConditionThe controller L

AX500 Motor Controller User’s Manual 81Mode DescriptionSECTION 9 R/C OperationThis section describes the controller’s wiring and functions specific to

R/C Operation82 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Selecting the R/C Input ModeThe R/C Input Mode is the factory default

AX500 Motor Controller User’s Manual 83R/C Input Circuit DescriptionR/C Input Circuit DescriptionThe AX500 R/C inputs are directly connected to the MC

R/C Operation84 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007. Powering the Radio from the controllerThe 5V power and ground signal

AX500 Motor Controller User’s Manual 85Connecting to a Separately Powered RadioImportant WarningDo not connect a battery to the radio when in this mod

R/C Operation86 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007to the controller does not inject power into the controller. The figur

AX500 Motor Controller User’s Manual 87Reception Watchdogthe controller captures the full joystick movement, the AX500 defaults to the timing values s

R/C Operation88 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Note: the Accessory Outputs C will be turned Off when radio is lost.Im

AX500 Motor Controller User’s Manual 89Command Control CurvesThe deadband is measured as a percentage of total normal joystick travel. For example, a

AX500 Motor Controller User’s Manual 9Query Heatsink Temperatures 111Query Battery Voltages 111Query Digital Inputs 112Reset Controller 112Accessing &

R/C Operation90 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Left/Right Tuning AdjustmentWhen operating in mixed mode with one moto

AX500 Motor Controller User’s Manual 91Data Logging in R/C ModeData Logging in R/C ModeWhile in R/C Mode, the AX500 will continuously send a string of

R/C Operation92 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007 123478951234567891011121314156RX DataRS232 Data OutGNDR/C Ch 1R/C Ch

AX500 Motor Controller User’s Manual 93Mode DescriptionSECTION 10 Analog Control and OperationThis section describes how the motors may be operated us

Analog Control and Operation94 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connector I/O Pin Assignment (Analog Mode)When used in

AX500 Motor Controller User’s Manual 95Connecting to a Voltage SourceConnecting to a Voltage SourceThe analog inputs expect a DC voltage of 0 to 5V wh

Analog Control and Operation96 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The controller includes two 47K ohm resistors pulling t

AX500 Motor Controller User’s Manual 97Analog Deadband AdjustmentAnalog Deadband AdjustmentThe controller may be configured so that some amount of pot

Analog Control and Operation98 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important NoticeSome analog joysticks do not cause the

AX500 Motor Controller User’s Manual 99Data Logging in Analog ModeData in Analog and R/C Modes” on page 144). It may also be stored in a PDA that can