RoboteQ Dual Channel Digital Motor Controller AX500 Manual do Utilizador Página 112
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Serial (RS-232) Controls and Operation
112 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
ond is the internal 12V supply needed for the controller’s microcomputer and MOSFET
drivers. The values are unsigned Hexadecimal numbers ranging from 0 to 255. To convert
these numbers into a voltage figure, use the formulas described in “Internal Voltage Moni-
toring Sensors” on page 59.
Syntax: ?e or ?E
Reply: nn
mm
Where: nn = main battery voltage value
mm = internal 12V voltage value
Notes:
The hexadecimal format is intended to be deciphered by a microcontroller. When exercis-
ing the controller manually, refer to the Decimal to Hexadecimal conversion table on
page 127.
Query Digital Inputs
Description:
This query will cause the controller to return the state of the controller’s two accessory
inputs (inputs E and F) and the state of the Emergency Stop/Inverted input. See “Connect-
ing Sensors and Actuators to Input/Outputs” on page 47 for information on how to wire
and use these signals. The returned values are three sets of two digits with the values 00
(to indicate a 0 or Off state), or 01 (to indicate a 1 or On state).
Syntax: ?i or ?I
Reply: nn
mm
oo
Where: nn = Input E status
mm = Input F status
oo = Estop/Invert Switch Input status
Examples:
?I Read Input status query
01 Controller replies, Input E is On
00 Input F is Off
01 Emergency stop switch is high (not triggered)
Reset Controller
Description:
This command allows the controller to be reset in the same manner as if the reset button
were pressed. This command should be used in exceptional conditions only or after chang-
ing the controller’s parameters in Flash memory so that they can take effect.
Syntax: %rrrrrr
Reply: None. Controller will reset and display prompt message
- Dual Channel 1
- Digital Motor 1
- Controller 1
- Revision History 3
- SECTION 1 AX500 5
- SECTION 8 Normal and 7
- SECTION 9 R/C Operation 81 7
- Important Safety 11
- Warnings 11
- Important Safety Warnings 12
- Quick Start 13
- Motor 2 Motor 1 14
- M2+ M1- M1+ VMotM2- 3 x Gnd 14
- RS232 Mode No Watchdog 18
- RS232 Mode with Watchdog 18
- Analog Mode 18
- Exploring further 20
- AX500 Motor 21
- Overview 21
- Technical features 22
- Connecting 25
- Power and 25
- Motors to the 25
- Controller Power 26
- Controller Powering Schemes 27
- General 35
- Position Sensor 38
- Gear box 38
- Position Feedback 38
- Programmable Acceleration 41
- Inverted Operation 45
- Sensors and 47
- Actuators to 47
- Input/Outputs 47
- AX500’s Inputs and Outputs 48
- I/O List and Pin Assignment 50
- Important warning: 52
- Analog Inputs 54
- Reported Analog Value 60
- Temperature in Degrees C 60
- Closed Loop 63
- Position Mode 63
- Important Warning: 67
- Important Safety Warning 68
- PID tuning in Position Mode 71
- • Applied Power 72
- • Command Value 72
- • Actual Position 72
- Speed Mode 73
- Tachometer wiring 74
- PID tuning in Speed Mode 77
- Closed Loop Speed Mode 78
- Normal and 79
- Fault Condition 79
- LED Messages 79
- Output Off / Fault Condition 80
- R/C Operation 81
- Selecting the R/C Input Mode 82
- R/C Input Circuit Description 83
- Supplied Cable Description 83
- 1. 0 5 m s 87
- R/C pulse timing: 87
- Joystick Deadband Programming 88
- Analog Control 93
- Analog Control and Operation 100
- Serial (RS-232) 101
- Controls and 101
- Operation 101
- Cable configuration 103
- Extending the RS232 Cable 103
- Communication Settings 104
- RS232 Mode if default 107
- Character Echo 107
- Command Acknowledgement 107
- Command Error 107
- Watchdog time-out 107
- RS-232 Watchdog 108
- Set Motor Command Value 109
- Set Accessory Output 109
- Important Notice 110
- Query Analog Inputs 111
- Query Heatsink Temperatures 111
- Query Battery Voltages 111
- Query Digital Inputs 112
- Reset Controller 112
- Apply Parameter Changes 113
- Amps Limit 116
- Acceleration 116
- Input Switches Function 117
- Left/Right Adjust 118
- Default PID Gains 120
- Important Notice: 122
- PWM Frequency Register 123
- Controller Status Register 123
- Current Amps Limit Registers 124
- Data Logging Cables 126
- Using the Roborun 131
- Configuration 131
- Getting On-Screen Help 134
- Control Settings 135
- Power Settings 136
- Closed Loop Parameters 138
- Exercising the Motors 138
- Viewing Encoder Data 138
- Running the Motors 139
- Logging Data to Disk 141
- Connecting a Joystick 142
- Using the Console 143
- Important Warning 146
- Mechanical 149
- Specifications 149
- Mounting Considerations 150
- Thermal Considerations 150
- Precautions to observe 152
- Wire Dimensions 153
- Mechanical Specifications 154
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