RoboteQ Dual Channel Digital Motor Controller AX500 Manual do Utilizador descarregar pdf (Página 92)

R/C Operation

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

RX Data

RS232 Data Out

GND

R/C Ch 1

R/C Ch 2

R/C GND

R/C +5V

GND

DB9 Female

To PC

DB15 Male

To Controller

FIGURE 61. Modified R/C cable with RS232 output for data logging to a PC

1 2 ... 87 88 89 90 91 92 93 94 95 96 97 ... 153 154

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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RoboteQ Dual Channel Digital Motor Controller AX500 Manual do Utilizador Página 92

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