Roboteq AX2850 Manual do Utilizador

AX2550AX2850Dual ChannelHigh Power Digital MotorController User’s Manualv1.9b, June 1, 2007visit www.roboteq.com to download the latest revision of th

10 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Default PID Gains 150Joystick Min, Max and Center Values 150Reading & Changing

Closed Loop Speed Mode100 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 20077. Move the cursor of the desired motor to the right so tha

AX2550 Motor Controller User’s Manual 101Control Loop Descriptionence measured between the desired speed (set by the user) and the actual position (ca

Closed Loop Speed Mode102 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007PID tuning in Speed ModeAs discussed above, three parameter

AX2550 Motor Controller User’s Manual 103Use of the LED DisplaySECTION 10 Normal and Fault Condition LED MessagesThis section discusses the meaning of

Normal and Fault Condition LED Messages104 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Motor Direction StatusWhen the controller

AX2550 Motor Controller User’s Manual 105Fault MessagesFault MessagesThe AX2550 uses the LED display to report fault conditions. When these messages a

Normal and Fault Condition LED Messages106 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Temporary FaultsTemporary Faults are condi

AX2550 Motor Controller User’s Manual 107Self-Test Display= Software version 1.9bFIGURE 67. Example of Software revision number display

Normal and Fault Condition LED Messages108 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 109Mode DescriptionSECTION 11 R/C OperationThis section describes the controller’s wiring and functions specific

AX2550 Motor Controller User’s Manual 11SECTION 15 Using the Roborun Configuration Utility 177 System Requirements 177Downloading and Installing the

R/C Operation110 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Selecting the R/C Input ModeThe R/C Input Mode is the factory defaul

AX2550 Motor Controller User’s Manual 111R/C Input Circuit DescriptionR/C Input Circuit DescriptionThe AX2550 R/C inputs are directly connected to the

R/C Operation112 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007. Powering the Radio from the controllerThe 5V power and ground sign

AX2550 Motor Controller User’s Manual 113Powering the Radio from the controllerImportant WarningDo not connect a battery to the radio when in this mod

R/C Operation114 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connecting to a Separately Powered RadioThis wiring option must be u

AX2550 Motor Controller User’s Manual 115Reception Watchdogond indicates the minimum joystick position and 2.0 milliseconds indicates the maximum joys

R/C Operation116 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007If no pulses are present, the motors are disabled, and the controlle

AX2550 Motor Controller User’s Manual 117Joystick Deadband Programmingnoise is generated. Section “Electrical Noise Reduction Techniques” on page 37 p

R/C Operation118 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Command Control CurvesThe AX2550 can also be set to translate the jo

AX2550 Motor Controller User’s Manual 119Automatic Joystick CalibrationThere are two methods for calibrating the joysticks:• The automatic method is t

12 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

R/C Operation120 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Notes:If you attempt to calibrate the joysticks while the radio is o

AX2550 Motor Controller User’s Manual 121Data Logging in R/C ModeData Logging in R/C ModeWhile in R/C Mode, the AX2550 will continuously send a string

R/C Operation122 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007 123478951234567891011121314156RX DataRS232 Data OutGNDR/C Ch 1R/C C

AX2550 Motor Controller User’s Manual 123Mode DescriptionSECTION 12 Analog Control and OperationThis section describes how the motors may be operated

Analog Control and Operation124 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connector I/O Pin Assignment (Analog Mode)When used i

AX2550 Motor Controller User’s Manual 125Connecting to a Voltage SourceConnecting to a Voltage SourceThe analog inputs expect a DC voltage of 0 to 5V

Analog Control and Operation126 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The controller includes two 47K ohm resistors pulling

AX2550 Motor Controller User’s Manual 127Analog Deadband Adjustment100K or higher potentiometer. Figure 86 shows how the output voltage varies at the

Analog Control and Operation128 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important NoticeSome analog joysticks do not cause th

AX2550 Motor Controller User’s Manual 129Data Logging in Analog Mode• Internal Heat Sink temperatures 1 and 2• Main Battery voltage• Internal 12V volt

AX2550 Motor Controller User’s Manual 13SECTION 1 Important Safety WarningsRead this Section FirstThe AX2550 is a high power electronics device. Serio

Analog Control and Operation130 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 131Use and benefits of RS232SECTION 13 Serial (RS-232) Controls and OperationThis section describes the communic

Serial (RS-232) Controls and Operation132 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connector I/O Pin Assignment (RS232 Mode)Wh

AX2550 Motor Controller User’s Manual 133Cable configurationCable configurationThe RS232 connection requires the special cabling as described in the f

Serial (RS-232) Controls and Operation134 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Communication SettingsThe AX2550 serial com

AX2550 Motor Controller User’s Manual 135Establishing Manual Communication with a PCCOM1port. You can easily change this setting to a different port f

Serial (RS-232) Controls and Operation136 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007After this information is sent, the Encoder

AX2550 Motor Controller User’s Manual 137Commands Acknowledge and Error MessagesRS232 Mode if defaultIf the controller is configured in RS232 mode, it

Serial (RS-232) Controls and Operation138 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007RS-232 WatchdogFor applications demanding t

AX2550 Motor Controller User’s Manual 139Controller Commands and QueriesSet Motor Command ValueDescription:Send a speed of position value from 0 to 12

Important Safety Warnings14 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Serial (RS-232) Controls and Operation140 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Query Power Applied to MotorsDescription:Th

AX2550 Motor Controller User’s Manual 141Controller Commands and Queriesvalues represent the actual speed measured by the tachometer. When used in pos

Serial (RS-232) Controls and Operation142 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007drivers. The values are unsigned Hexadecima

AX2550 Motor Controller User’s Manual 143Accessing & Changing Configuration Parameter in FlashAccessing & Changing Configuration Parameter in

Serial (RS-232) Controls and Operation144 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Reply: + Success, changed parameters are no

AX2550 Motor Controller User’s Manual 145Accessing & Changing Configuration Parameter in FlashThese parameters are stored in the controller’s Flas

Serial (RS-232) Controls and Operation146 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007This parameters selects the various open lo

AX2550 Motor Controller User’s Manual 147Accessing & Changing Configuration Parameter in FlashAccelerationAddress: ^03Access: Read/WriteEffective:

Serial (RS-232) Controls and Operation148 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007RC Joystick or Analog DeadbandAddress: ^06A

AX2550 Motor Controller User’s Manual 149Accessing & Changing Configuration Parameter in FlashThis parameter configures the transfer curve that is

AX2550 Motor Controller User’s Manual 15SECTION 2 AX2550Quick StartThis section will give you the basic information needed to quickly install, setup a

Serial (RS-232) Controls and Operation150 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Default Encoder Distance DividerAddress: ^0

AX2550 Motor Controller User’s Manual 151Reading & Changing Operating Parameters at Runtime^1C - Joystick Max 2 MS^1D - Joystick Max 2 LSEffective

Serial (RS-232) Controls and Operation152 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important Notice:Do not write in the locati

AX2550 Motor Controller User’s Manual 153Reading & Changing Operating Parameters at Runtime^86 - I2^87 - D2Access: Read/WriteEffective: InstantlyT

Serial (RS-232) Controls and Operation154 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller Identification RegisterAddress:

AX2550 Motor Controller User’s Manual 155RS232 Encoder Command SetRS232 Encoder Command SetWhen present, the Encoder module responds to a dedicated se

156 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007While resetting is a single step command, setting the counters to a non-zero valu

AX2550 Motor Controller User’s Manual 157RS232 Encoder Command SetRead DistanceDescription:This query will cause the controller to return the distance

158 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Reply: 0nWhere: n = switch statusThe relationship between the value of n and the

AX2550 Motor Controller User’s Manual 159RS232 Encoder Command SetExample:*84 Read value of parameter at address hex 8401 Controller replies, value is

AX2550 Quick Start16 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The front side (shown in Figure 1) contains the buttons and disp

160 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningDo not alter any other area locations, as this may cause program

AX2550 Motor Controller User’s Manual 161Register DescriptionThese two registers contain either the measured speed or the measured distance. Whether s

162 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007*9A*9B - Least Significant ByteThese two 32-bit (4-bytes) registers are used to s

AX2550 Motor Controller User’s Manual 163Counter Read Data FormatCounter Read Data FormatWhen receiving a counter read query, the encoder module will

164 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 165Automatic Switching from RS232 to RC ModeAutomatic Switching from RS232 to RC ModeIn many computer controlled

166 AX2550 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 deacti

AX2550 Motor Controller User’s Manual 167Decimal to Hexadecimal Conversion Tablelogging purposes. This cable has a 15-pin male connector and 3 15-pin

168 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 20075 0537256945101656 0638267046102667 0739277147103678 0840287248104689 09412973491

AX2550 Motor Controller User’s Manual 169Decimal to Hexadecimal Conversion Table-121 135 87 -89 167 A7 -57 199 C7 -25 231 E7-120 136 88 -88 168 A8 -56

AX2550 Motor Controller User’s Manual 17Connecting to the Batteries and MotorsConnecting to the Batteries and MotorsConnection to the batteries and mo

170 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 171SECTION 14 Configuring the Controller using the SwitchesThe AX2550 Speed Controller can be programmed to oper

Configuring the Controller using the Switches172 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Entering Programming ModeProgramming

AX2550 Motor Controller User’s Manual 173Programming using built-in Switches and DisplayBe careful not to confuse the Set and Program button when ente

Configuring the Controller using the Switches174 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007the controller. All parameters, incl

AX2550 Motor Controller User’s Manual 175Programmable Parameters ListThis table shows only the parameters that can be programmed using the switches an

Configuring the Controller using the Switches176 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007*The coast function is not implement

AX2550 Motor Controller User’s Manual 177SECTION 15 Using the Roborun Configuration UtilityA PC-based Configuration Utility is available, free of char

Using the Roborun Configuration Utility178 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007• after the installation is complete, run

AX2550 Motor Controller User’s Manual 179Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu DescriptionsThe Roborun screen contains t

AX2550 Quick Start18 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007the Controller” on page 29 for more information about batteries

Using the Roborun Configuration Utility180 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007featuring the additional Analog Inputs 3 a

AX2550 Motor Controller User’s Manual 181Loading, Changing Controller ParametersLoading, Changing Controller ParametersThe first set of tabs allows yo

Using the Roborun Configuration Utility182 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007This pull down menu is used to choose whet

AX2550 Motor Controller User’s Manual 183Loading, Changing Controller Parameters2- Left/Right AdjustThis slider will let you configure the controller

Using the Roborun Configuration Utility184 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007These fields are enabled only if the R/C m

AX2550 Motor Controller User’s Manual 185Encoder Setting and TestingWith this utility, the following actions can be accomplished:• Set and program the

Using the Roborun Configuration Utility186 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The Time Base parameter is used to compute

AX2550 Motor Controller User’s Manual 187Running the Motors1- Run/Stop ButtonThis button will cause the PC to send the run commands to the controller

Using the Roborun Configuration Utility188 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007case the power level will be the one neede

AX2550 Motor Controller User’s Manual 189Running the Motorsthree digital inputs present on the controller. Black represents a “0”level. Green repre-se

AX2550 Motor Controller User’s Manual 19Connecting the R/C RadioConnecting the R/C RadioConnect the R/C adapter cables to the controller on one side a

Using the Roborun Configuration Utility190 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007line of the save file contains the Header

AX2550 Motor Controller User’s Manual 191Using the ConsoleA joystick test program name “Joytest” is automatically installed in the Start menu when ins

Using the Roborun Configuration Utility192 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007ries. See “RS232 Encoder Command Set” on p

AX2550 Motor Controller User’s Manual 193Operating the AX2550 over a Wired or Wireless LANOperating the AX2550 over a Wired or Wireless LANThe Roborun

Using the Roborun Configuration Utility194 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Note that it is not possible to use this c

AX2550 Motor Controller User’s Manual 195Creating Customized Object FilesNotes:The Updating utility will automatically detect whether the new software

Using the Roborun Configuration Utility196 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Creating a custom object file can easily b

AX2550 Motor Controller User’s Manual 197Mechanical DimensionsSECTION 16 Mechanical SpecificationsThis section details the mechanical characteristics

Mechanical Specifications198 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Mounting ConsiderationsProgram Set Reset5.50" (140

AX2550 Motor Controller User’s Manual 199Thermal ConsiderationsMounting brackets on each end are provided for durable assembly of the controller onto

2 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Quick Start20 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Powering On the ControllerImportant reminder: There is no On-Off

Mechanical Specifications200 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007WeightController weight is 3.3 lbs (1500g)Power Control

AX2550 Motor Controller User’s Manual 21Default Controller ConfigurationDefault Controller ConfigurationVersion 1.9b of the AX2550 software is configu

AX2550 Quick Start22 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connecting the controller to your PC using RoborunConnecting the

AX2550 Motor Controller User’s Manual 23Obtaining the Controller’s Software Revision NumberTo connect the controller to your PC, use the provided cabl

AX2550 Quick Start24 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007It is also possible to get the controller to display the softwar

AX2550 Motor Controller User’s Manual 25SECTION 3 AX2550 Motor Controller OverviewCongratulations! By selecting Roboteq’s AX2550 you have empowered yo

AX2550 Motor Controller Overview26 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The motors are driven using high-efficiency Power

AX2550 Motor Controller User’s Manual 27Technical features• Tachometer inputs for closed loop speed control• Potentiometer input for position (servo m

AX2550 Motor Controller Overview28 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007• 12 to 40 V operation• High current 8 AWG cable s

AX2550 Motor Controller User’s Manual 29Power ConnectionsSECTION 4 Connecting Power and Motors to the ControllerThis section describes the AX2550 Cont

AX2550 Motor Controller User’s Manual 3Revision HistoryThe information contained in this manual is believed to be accurate and reliable. However, it m

Connecting Power and Motors to the Controller30 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller PowerThe AX2550 uses a fle

AX2550 Motor Controller User’s Manual 31Controller PowerWhen powered only via the Power Control input, the controller will turn On but motors will not

Connecting Power and Motors to the Controller32 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007All 3 ground (-) are connected to eac

AX2550 Motor Controller User’s Manual 33Controller Powering SchemesThere is no need to insert a separate switch on Power cables, although for safety r

Connecting Power and Motors to the Controller34 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningUnless you can ensur

AX2550 Motor Controller User’s Manual 35Single Channel OperationIf you are using this type of motor, make sure that it is mounted on isolators and tha

Connecting Power and Motors to the Controller36 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007• Then place the load on channel 2 an

AX2550 Motor Controller User’s Manual 37Wire Length Limitsduring acceleration and braking. However, it also means that the fuse may not be able to pro

Connecting Power and Motors to the Controller38 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007It is therefore essential that the AX

AX2550 Motor Controller User’s Manual 39Using the Controller with a Power Supplybackup voltage drop below 12.V, the DC/DC converter’s output will be a

4 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Connecting Power and Motors to the Controller40 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 41Basic OperationSECTION 5 General OperationThis section discusses the controller’s normal operation in all its

General Operation42 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Selecting the Motor Control ModesFor each motor, the AX2550 suppo

AX2550 Motor Controller User’s Manual 43Selecting the Motor Control ModesClosed Loop Speed ControlIn this mode, illustrated in Figure 18, an analog ta

General Operation44 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007User Selected Current Limit SettingsThe AX2550 has current sensor

AX2550 Motor Controller User’s Manual 45Battery Current vs. Motor CurrentWhen the measured temperature reaches 80oC, the controller’s maximum current

General Operation46 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The relation between Battery Current and Motor current is given i

AX2550 Motor Controller User’s Manual 47Programmable AccelerationProgrammable AccelerationWhen changing speed command, the AX2550 will go from the pre

General Operation48 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007When configuring the acceleration parameter using the Roborun uti

AX2550 Motor Controller User’s Manual 49Left / Right Tuning AdjustmentThe AX2550 is delivered with the “linear” curves selected for both joystick chan

AX2550 Motor Controller User’s Manual 5Revision History 3SECTION 1 Important Safety Warnings 13This product is intended for use with rechargeable bat

General Operation50 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007is found on all R/C transmitters, and which is actually an offset

AX2550 Motor Controller User’s Manual 51Activating Brake Release or Separate Motor ExcitationActivating Brake Release or Separate Motor ExcitationThe

General Operation52 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The switch connection is described in “Connecting Switches or Dev

AX2550 Motor Controller User’s Manual 53Self-Test ModeWhen the input is pulled high, all the power MOSFETs are turned Off so that the motors are effec

General Operation54 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007• Encoder Speed or Position if module is installedThe entire stri

AX2550 Motor Controller User’s Manual 55AX2550 ConnectionsSECTION 6 Connecting Sensors and Actuators to Input/OutputsThis section describes the variou

Connecting Sensors and Actuators to Input/Outputs56 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007ProgramSetResetSetReset567 984312

AX2550 Motor Controller User’s Manual 57AX2550’s Inputs and OutputsAX2550’s Inputs and OutputsIn addition to the RS232 and R/C channel communication l

Connecting Sensors and Actuators to Input/Outputs58 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007I/O List and Pin AssignmentThe fi

AX2550 Motor Controller User’s Manual 59Connecting devices to Output C**These connections should only be done in RS232 mode or R/C mode with radio pow

6 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007SECTION 5 General Operation 41Basic Operation 41Input Command Modes 41Selecting th

Connecting Sensors and Actuators to Input/Outputs60 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007This output can be turned On and

AX2550 Motor Controller User’s Manual 61Connecting Switches or Devices to Input FInput E is a high impedance input with a pull-up resistor built into

Connecting Sensors and Actuators to Input/Outputs62 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007On controllers prior to RevB, Inp

AX2550 Motor Controller User’s Manual 63Analog InputsThe status of the EStop/Inv can be read at all times in the RS232 mode with the ?i com-mand strin

Connecting Sensors and Actuators to Input/Outputs64 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connecting the potentiometer to t

AX2550 Motor Controller User’s Manual 65Connecting Tachometer to Analog InputsSince the controller only accepts a 0 to 5V positive voltage as its inpu

Connecting Sensors and Actuators to Input/Outputs66 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connecting External Thermistor to

AX2550 Motor Controller User’s Manual 67Using the Analog Inputs to Monitor External VoltagesTo read the temperature, use the ?p command to have the co

Connecting Sensors and Actuators to Input/Outputs68 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Internal Voltage Monitoring Senso

AX2550 Motor Controller User’s Manual 69Temperature Conversion C Source CodeTemperature Conversion C Source CodeThe code below can be used to convert

AX2550 Motor Controller User’s Manual 7SECTION 7 Installing, Connecting and Using the Encoder Module 71Optical Incremental Encoders Overview 71Recomm

Connecting Sensors and Actuators to Input/Outputs70 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 71Optical Incremental Encoders OverviewSECTION 7 Installing, Connecting and Using the Encoder ModuleThis section

Installing, Connecting and Using the Encoder Mod-72 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The figure below shows the typica

AX2550 Motor Controller User’s Manual 73Installing the Encoder ModuleSpecifically, the encoder module can process 250,000 counts per seconds. As discu

Installing, Connecting and Using the Encoder Mod-74 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Follow these simple steps to inst

AX2550 Motor Controller User’s Manual 75Connecting the Encoder4- Slide the cover back on. Install the new face plate.Connecting the EncoderThe Encoder

Installing, Connecting and Using the Encoder Mod-76 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Cable Length and Noise Considerat

AX2550 Motor Controller User’s Manual 77Voltage Levels, Thresholds and Limit SwitchesOn the 2850 family of controllers, the threshold voltage may be c

Installing, Connecting and Using the Encoder Mod-78 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningWhen a limit swi

AX2550 Motor Controller User’s Manual 79Wiring Limit Switches Without EncodersWiring Limit Switches Without EncodersIf no encoder is used, the Encoder

8 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Tachometer or Encoder Mounting 98Tachometer wiring 98Speed Sensor and Motor Polarit

Installing, Connecting and Using the Encoder Mod-80 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007In Single Channel Mode, limit swi

AX2550 Motor Controller User’s Manual 81Using the Encoder to Track PositionA simple procedure is included in the Roborun PC utility to easily determin

Installing, Connecting and Using the Encoder Mod-82 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The actual formula is as follows:

AX2550 Motor Controller User’s Manual 83Encoder Testing and Setting Using the PC UtilityEncoder Testing and Setting Using the PC UtilityExtensive diag

Installing, Connecting and Using the Encoder Mod-84 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 85Mode DescriptionSECTION 8 Closed Loop Position ModeThis section describes the AX2550 Position mode, how to wir

Closed Loop Position Mode86 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Position Sensor SelectionThe AX2550 may be used with the

AX2550 Motor Controller User’s Manual 87Feedback Potentiometer wiringThe mechanical coupling between the motor and the sensor must be as tight as poss

Closed Loop Position Mode88 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007 Feedback Potentiometer wiring in Analog ModeWhen the co

AX2550 Motor Controller User’s Manual 89Analog Feedback on Single Channel ControllersAnalog Feedback on Single Channel ControllersOn Single Channel co

AX2550 Motor Controller User’s Manual 9Analog Deadband Adjustment 127Power-On Safety 128Under Voltage Safety 128Data Logging in Analog Mode 128SECTION

Closed Loop Position Mode90 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007This wiring is also the one to use when the controller is

AX2550 Motor Controller User’s Manual 91Encoder Error Detection and Protection9. If the motor turns in the direction in which the sensor was moved, th

Closed Loop Position Mode92 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007The diode polarity depends on the particular wiring and m

AX2550 Motor Controller User’s Manual 93Using Current Limiting as ProtectionImportant WarningLimit switches must be used when operating the controller

Closed Loop Position Mode94 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007A higher Proportional Gain will cause the algorithm to ap

AX2550 Motor Controller User’s Manual 95PID tuning in Position ModeThe Roborun PC utility makes this experimentation easy by providing one screen for

Closed Loop Position Mode96 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX2550 Motor Controller User’s Manual 97Mode DescriptionSECTION 9 Closed Loop Speed ModeThis section discusses the AX2550 Close Loop Speed mode. Mode

Closed Loop Speed Mode98 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007Using Optical Encoder for Speed Feedback (AX2850 only)Digita

AX2550 Motor Controller User’s Manual 99Speed Sensor and Motor PolarityConnecting the tachometer to the controller is as simple as shown in the diagra