RoboteQ AX2550/2850 Bedienungsanleitung

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Zur Seite of

Richtige Gebrauchsanleitung

Die Vorschriften verpflichten den Verkäufer zur Übertragung der Gebrauchsanleitung RoboteQ AX2550/2850 an den Erwerber, zusammen mit der Ware. Eine fehlende Anleitung oder falsche Informationen, die dem Verbraucher übertragen werden, bilden eine Grundlage für eine Reklamation aufgrund Unstimmigkeit des Geräts mit dem Vertrag. Rechtsmäßig lässt man das Anfügen einer Gebrauchsanleitung in anderer Form als Papierform zu, was letztens sehr oft genutzt wird, indem man eine grafische oder elektronische Anleitung von RoboteQ AX2550/2850, sowie Anleitungsvideos für Nutzer beifügt. Die Bedingung ist, dass ihre Form leserlich und verständlich ist.

Was ist eine Gebrauchsanleitung?

Das Wort kommt vom lateinischen „instructio”, d.h. ordnen. Demnach kann man in der Anleitung RoboteQ AX2550/2850 die Beschreibung der Etappen der Vorgehensweisen finden. Das Ziel der Anleitung ist die Belehrung, Vereinfachung des Starts, der Nutzung des Geräts oder auch der Ausführung bestimmter Tätigkeiten. Die Anleitung ist eine Sammlung von Informationen über ein Gegenstand/eine Dienstleistung, ein Hinweis.

Leider widmen nicht viele Nutzer ihre Zeit der Gebrauchsanleitung RoboteQ AX2550/2850. Eine gute Gebrauchsanleitung erlaubt nicht nur eine Reihe zusätzlicher Funktionen des gekauften Geräts kennenzulernen, sondern hilft dabei viele Fehler zu vermeiden.

Was sollte also eine ideale Gebrauchsanleitung beinhalten?

Die Gebrauchsanleitung RoboteQ AX2550/2850 sollte vor allem folgendes enthalten:
- Informationen über technische Daten des Geräts RoboteQ AX2550/2850
- Den Namen des Produzenten und das Produktionsjahr des Geräts RoboteQ AX2550/2850
- Grundsätze der Bedienung, Regulierung und Wartung des Geräts RoboteQ AX2550/2850
- Sicherheitszeichen und Zertifikate, die die Übereinstimmung mit entsprechenden Normen bestätigen

Warum lesen wir keine Gebrauchsanleitungen?

Der Grund dafür ist die fehlende Zeit und die Sicherheit, was die bestimmten Funktionen der gekauften Geräte angeht. Leider ist das Anschließen und Starten von RoboteQ AX2550/2850 zu wenig. Eine Anleitung beinhaltet eine Reihe von Hinweisen bezüglich bestimmter Funktionen, Sicherheitsgrundsätze, Wartungsarten (sogar das, welche Mittel man benutzen sollte), eventueller Fehler von RoboteQ AX2550/2850 und Lösungsarten für Probleme, die während der Nutzung auftreten könnten. Immerhin kann man in der Gebrauchsanleitung die Kontaktnummer zum Service RoboteQ finden, wenn die vorgeschlagenen Lösungen nicht wirksam sind. Aktuell erfreuen sich Anleitungen in Form von interessanten Animationen oder Videoanleitungen an Popularität, die den Nutzer besser ansprechen als eine Broschüre. Diese Art von Anleitung gibt garantiert, dass der Nutzer sich das ganze Video anschaut, ohne die spezifizierten und komplizierten technischen Beschreibungen von RoboteQ AX2550/2850 zu überspringen, wie es bei der Papierform passiert.

Warum sollte man Gebrauchsanleitungen lesen?

In der Gebrauchsanleitung finden wir vor allem die Antwort über den Bau sowie die Möglichkeiten des Geräts RoboteQ AX2550/2850, über die Nutzung bestimmter Accessoires und eine Reihe von Informationen, die erlauben, jegliche Funktionen und Bequemlichkeiten zu nutzen.

Nach dem gelungenen Kauf des Geräts, sollte man einige Zeit für das Kennenlernen jedes Teils der Anleitung von RoboteQ AX2550/2850 widmen. Aktuell sind sie genau vorbereitet oder übersetzt, damit sie nicht nur verständlich für die Nutzer sind, aber auch ihre grundliegende Hilfs-Informations-Funktion erfüllen.

Inhaltsverzeichnis der Gebrauchsanleitungen

  • Seite 1

    AX2550/2850 Dual Chann el High P o w er Digital Motor Contr oller User ’ s Manual v1 .7 , F ebrua r y 1, 2 00 5 visit www . robot eq.com to download the lat est revisio n of thi s manua l ©Cop yright 2003-2005 R oboteq, I nc.[...]

  • Seite 2

    2 AX25 50/2 850 Mo tor Co ntroll er U ser ’ s Ma nual V e rsio n 1 .7 . F ebruar y 1, 20 05 The inf ormation contained in this manua l is beli ev ed to be accurate a nd reliab le. Ho we v er , it ma y contain e rrors tha t were no t noticed a t time of p ublication. User’ s are e xpected to perf orm their o wn pro duct v alidation and not re ly[...]

  • Seite 3

    AX25 50/2 850 Mo tor Co ntro ller U ser ’ s Manua l 3 Revision History[...]

  • Seite 4

    4 AX25 50/2 850 Mo tor Co ntro ller U ser ’ s Manu al V e rsio n 1 .7. Februar y 1, 20 05[...]

  • Seite 5

    AX2500/2850 Mo tor Controlle r User ’ s Manual 5 Re vi sion Hist or y 2 SECTION 1 AX250 0/2850 Quic k St art 11 What you will need 11 Locating Switc hes, Wir es and Conn ectors 12 Connecti ng to the B at teri es and Motors 13 Using the P ow er Contro l Wire 14 Conne cting the R/C Radio 14 P o wering On t he Contro ller 15 But ton Oper ation 16 De[...]

  • Seite 6

    6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Current Li mit Set tings 38 Contin uous and Extended Current Lim ita tion 38 T empe rature-B ase d Current Limit ation 39 Surge Current Protection 40 Regeneration Cu rrent Limiting 40 Programmable Acceleration 40 Comman d Contro l Cur ves 42 Lef t / Right T uning[...]

  • Seite 7

    AX2500/2850 Mo tor Controlle r User ’ s Manual 7 Self-T est Displa y 68 SECTION 7 R/C O peratio n 69 Mode Des cription 69 Selecti ng the R /C Input M ode 70 T ypic al W iring 70 Connector I/O Pin Assignmen t (R/C Mode ) 71 R/C Inpu t Circuit Descri ption 72 Suppli ed Cable Descriptio n 73 Cablin g to R/C Receiver using F u ll Opto-Is olation 74 C[...]

  • Seite 8

    8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Apply Parameter Changes 97 Re set Control ler 97 Optica l Encoder Commands 97 Commands Ac knowledg e and Error Mes sages 97 Characte r Ec ho 97 Comm and A c kno wle dgemen t 98 Command Error 98 W atc hdog time-out 98 RS-232 W atc hdog 98 RS2 32 Ac cessible Pa ram[...]

  • Seite 9

    AX2500/2850 Mo tor Controlle r User ’ s Manual 9 Using O ptical Enc oder for Spe ed F eedback (AX2850 on ly) 124 T ac hometer or En coder Moun ting 124 T ac h ometer wirin g 124 Spe ed Sens or and M otor P olar ity 125 Adjust Offset and M ax Spe ed 126 Contro l Loop Descr iption 127 PID tuning in S peed Mode 128 SECTION 12 Inst alling , Conn ecti[...]

  • Seite 10

    10 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Vie wing Encoder Data 152 Upda ting the En coder Sof t w are 152 SECTION 13 Conf iguri ng the Cont roller usin g the S wit c h es 153 Programming Method s 153 Programming usi ng built -in Switc hes and Dis play 153 Entering Programming Mod e 154 Changing pa rame[...]

  • Seite 11

    AX2500/2850 Mo tor Controlle r User ’ s Manual 11 SECTION 1 AX250 0/2850 Quic k Star t Thi s sectio n will g ive you t he basic in fo rmation ne eded to qu ic kly in stall, set up a nd r un you r AX2500/2850 co ntroller in a minima l configu ration. T he AX285 0 is a v ersion of the AX25 50 control ler with the a ddition of Optic al Encoder i npu[...]

  • Seite 12

    AX250 0/2850 Quic k Start 12 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Locating S witc hes, Wires and Connector s T ak e a moment to fam iliariz e yours elf with the control ler ’ s wires, sw itc hes and co nnector . The front side (sho wn in Figure 1) contains the bu t tons and dis pla y needed to opera[...]

  • Seite 13

    AX2500/2850 Mo tor Controlle r User ’ s Manual 13 Connecting to the Bat teries and Motors Connecting to the Bat teries and Motors Connecti on to the ba t teries and motors i s sho wn in the fig ure belo w and is done b y con- necting the set of wir es coming o ut from the bac k of the control ler. 1 - Connect the t w o thic k blac k wires to the [...]

  • Seite 14

    AX250 0/2850 Quic k Start 14 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Importa nt W arning The contr oller inc ludes lar g e capacit ors. When connecting the Mot or P ow er Cabl es, a spar k will be g enera ted at the connection point. This is a nor mal oc cur r ence and should be expect ed. Using the P o [...]

  • Seite 15

    AX2500/2850 Mo tor Controlle r User ’ s Manual 15 P o wering On the Controller Thi s wiring - with the wi re loop un cut - assum es hat the R/C ra dio will be po wered b y the AX2500/2850 c ontroller . Other w iring options are described in “ R/C Operation ” on pa ge 6 9 of th e User ’ s Manual. Importa nt W arning Do not conne ct a bat t e[...]

  • Seite 16

    AX250 0/2850 Quic k Start 16 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 T urn the R/C transmit ter On. T he “ no ctrl ” scrol ling mess age wil l disapp ear and the d ispla y will sh ow stea dy patterns de pendi ng on t he mot ors ’ se lecte d directio n. Mov e the jo ystic k on the transmit ter to ac[...]

  • Seite 17

    AX2500/2850 Mo tor Controlle r User ’ s Manual 17 Default Controller Configuration Default Co ntroller Conf iguration V ersion 1 .7 of the AX2500/285 0 sof tware is configure d with the fact or y def aults sho wn in the table bel ow . Althou gh Rob oteq striv es to k eep the s ame paramete rs and v alues f rom one v ersion to th e next, c hanges [...]

  • Seite 18

    AX250 0/2850 Quic k Start 18 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Connecting t he contro ller to y our PC usin g Roborun Connecti ng the con troller to y our PC is not neces sar y fo r basic R/ C operation . How e ver , it is a v er y sim ple procedure that is us eful f or the f ollo wing pu rposes: ?[...]

  • Seite 19

    AX2500/2850 Mo tor Controlle r User ’ s Manual 19 Obtaining the Controller ’ s Software Revi sion Nu mber T o connect the contro ller to your PC, use the pr ovided ca ble. Connect the 1 5-pin connecto r to the co ntroller . Connec t the 9-pin connector to your P C ’ s av ail able p ort (t ypi cally COM1) . Apply po w er to the controller to t[...]

  • Seite 20

    AX250 0/2850 Quic k Start 20 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Eac h sof twa re ve rsion is ide ntified w ith a uniq ue number . Obtaining this numb er can be done us ing the PC c onnection d iscussed p re viously . It is also poss ible to get the controll er to displa y the sof tware version nu mb[...]

  • Seite 21

    AX2500/2850 Mo tor Controlle r User ’ s Manual 21 SECTION 2 AX250 0/2850 Motor Contr oller Ov er view Congrat ulati ons! B y selec ting R oboteq ’ s AX2500/2850 y ou ha ve e mpow ered you r- self wi th the indu str y ’ s mo st v ersatile and programmabl e DC Motor Controller f or mobile robots. This ma nual wi ll guide you step b y step th ro[...]

  • Seite 22

    AX250 0/2850 Motor Controlle r Overview 22 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 The motors ar e driv en using high-ef fi ciency P ow er MOSFE T transi stors con trolled us ing Pul se Width Modula tion (PWM) at 1 6kHz . The AX2 500/2850 po we r stages can ope rate from 1 2 to 40VDC and can sustain up t[...]

  • Seite 23

    AX2500/2850 Mo tor Controlle r User ’ s Manual 23 T ec hnical features • T ac ho meter input s f or closed lo op speed control • P otentio meter inpu t for po sition (s er vo mode) • Motor tempera ture sensor i nputs • External v oltage s ensors • User defi ned purpose (RS 232 mode o nly) • One S witc h input confi gurable as • Emer[...]

  • Seite 24

    AX250 0/2850 Motor Controlle r Overview 24 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 • 1 00A up to 30 secon ds • 80A e xtended • High cur rent ope ration ma y be e xtende d with f orced cool ing • 250A peak Amps per c hannel • 1 6kHz P ulse Width Modulati on (PWM) outp ut • Au xiliary output f [...]

  • Seite 25

    AX2500/2850 Mo tor Controlle r User ’ s Manual 25 Connecting P o wer SECTION 3 Connecting P o w er and Motor s to the Contr oller Thi s sectio n describes the AX2500/2850 Con troller ’ s co nnecti ons to pow er so urces and motors. Importa nt W arning Please f ollo w the ins tr uctions in this section v ery ca refull y . An y pr oblem due to w [...]

  • Seite 26

    Connecting P o wer and Motors to the Controller 26 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Co ntro ll er P ower The AX2500/2850 us es a fle xible po w er supply sc hem e that is best describ ed in Fig ure 9. On this diagram , it can b e seen that the Control Logic requires a stable 1 2V supply , whi le th[...]

  • Seite 27

    AX2500/2850 Mo tor Controlle r User ’ s Manual 27 Controller P o wer that conn ecting one wire of a gi ven b at tery potential wi ll elimin ate the need fo r connecting the ot her . Malfunction o r e ven dam age ma y occur if one wire is assum ing the load of all tw o. T ABLE 4. Effect of P ower Control under various voltage c onditions P ow er C[...]

  • Seite 28

    Connecting P o wer and Motors to the Controller 28 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 P o weri ng the Contr oller using the Motor Bat teries The AX2500/2850 included a DC/DC conv erter to generat e the internal 1 2V re quired f or its operatio n. Th e diagram on Figure 1 0 sho w ho w to wi re the con[...]

  • Seite 29

    AX2500/2850 Mo tor Controlle r User ’ s Manual 29 Controller P o wer Using a Bac kup Bat ter y T o ensure that the controll er will alwa y s be operationa l, regardless of the c harge lef t in the main ba t tery , it is reco mmended to add a 1 2V bac kup bat tery connecte d as sho wn i n Figur e 1 1. 2 x 1 2V B at teries = 24V 3 x 1 2V B at terie[...]

  • Seite 30

    Connecting P o wer and Motors to the Controller 30 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Mak e sur e that you r mot ors have their wir es isolat ed from th e motor casing. Some mot ors, par ticular ly au tomotiv e par ts, use on ly one wir e, with the other conne cted to th e mo t or ’ s fr ame . If y[...]

  • Seite 31

    AX2500/2850 Mo tor Controlle r User ’ s Manual 31 Electrical Noise Reduc tion T e c hn iques has bu ilt-in c apacito rs and vol t age limiter s that wi ll redu ce these ef f ect s. Ho we v er , shoul d the wire ind uctance be incre ased, f or examp le by extendin g the wire lengt h, these ef fect s will be amplified b ey ond the controlle r ’ s[...]

  • Seite 32

    Connecting P o wer and Motors to the Controller 32 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Importa nt W arning A v oid sw itching O ff or c utting o pen the main pow er cable s (thick bl ack and r ed wir es) while the mot ors ar e spinni ng. D amag e to the contr oller ma y occur . Overvoltage P ro tectio[...]

  • Seite 33

    AX2500/2850 Mo tor Controlle r User ’ s Manual 33 Using the Controlle r with a P ow er Supply high cur rent surge s during moto r acceleration, making it possible to use a lo w er current po w er supply . B at tery mounted in thi s wa y should be co nnected f or the first time only while ful ly c h arged and sh ould not b e allo w ed to disc harg[...]

  • Seite 34

    Connecting P o wer and Motors to the Controller 34 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005[...]

  • Seite 35

    AX2500/2850 Mo tor Controlle r User ’ s Manual 35 Basic Operat ion SECTION 4 General Operation Thi s section dis cusses the co ntroller ’ s normal operation in all i ts sup ported ope rating mode s. Basic Operation The AX25 00 /285 0 ’ s opera tion c an be su mmarized as follows: • Recei ve c ommands fro m a radio receiv er , joy stic k or [...]

  • Seite 36

    General O peration 36 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Selecting the Moto r Control Modes F or eac h motor , the AX2500/2850 support s multiple mo tion control modes. Th e controller ’ s f actor y def aul t mode is Open L oop Spe ed control f or ea c h mot or . The mod e can be c han ged using an[...]

  • Seite 37

    AX2500/2850 Mo tor Controlle r User ’ s Manual 37 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this m ode, illu strated in Fi gure 1 5, an analog tac hometer or an optical encoder (AX285 0 only) is used to m easure the ac tua l motor spe ed. If the sp eed c ha nges becau se of c hanges in load, the controller au tomatically co[...]

  • Seite 38

    General O peration 38 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Current Limit Set tings The AX2500/2850 ha s curre nt sensor s at eac h of its two output stages. Every 1 6 ms , this curr ent is meas ured and a cor recti on to the output p ow er le ve l is appl ied if high er than the user pres et v alue. Th[...]

  • Seite 39

    AX2500/2850 Mo tor Controlle r User ’ s Manual 39 T emperature-Based Current Limitation Y ou can select one of 7 cu rrent limit se t tings bas ed on yo ur robot ’ s compon ent capabi lities (motors, bat te r y , wiring), up to th e controll er ’ s o wn lim it. Th e av ailabl e curren t limit v alues are sho wn i n the table belo w . The contr[...]

  • Seite 40

    General O peration 40 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Surge Current Pr otection During ex ceptio nally high load con ditions suc h as moto r stalls, the motors ma y make demand s on the c ontroller i n ex cess o f sev eral hundred Am ps. The current l imiting f e a- t ures des cribed abo ve will a[...]

  • Seite 41

    AX2500/2850 Mo tor Controlle r User ’ s Manual 41 Pr ogrammable A ccelerati on Numeri cally spe aking, eac h acceleration v alue corres ponds to a fixe d percentage spe ed inc rement , appl ied ever y 1 6 m illis econd s. The value for eac h setting is sh own in th e t able below . When con figurin g the accelera tion para meter using the Rob oru[...]

  • Seite 42

    General O peration 42 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Command Cont rol Cu r v es The AX2500/2850 can also be s et to transla te the jo ysti c k or R S232 m otor command s so that the m otors resp ond dif f erently whether the jo ys tic k is ne ar the cen ter or near the ex tremes. The controlle r [...]

  • Seite 43

    AX2500/2850 Mo tor Controlle r User ’ s Manual 43 Lef t / Right T uning Adjustment The AX2500/2850 is deli vered w ith the “ lin ear ” cur v es se lected f or bot h jo ysti c k c hannels. T o select di f f erent cur v es, y ou will ne ed to c hange the v alues of “ E ” (c hann el 1) and “ F ” (c ha nnel 2) ac cording to th e table bel[...]

  • Seite 44

    General O peration 44 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 directio n will ca se the motor to spin 3 to 5.25% faster th an the s ame command applied in the re ver se directi on. Note tha t since th e motors can not be made to spin f aster tha n 1 00%, the rev erse d irection is th e one tha t is act ua[...]

  • Seite 45

    AX2500/2850 Mo tor Controlle r User ’ s Manual 45 Emergency Stop using External S witc h Aft er and Emerg enc y Stop c ondition, the c ontroll er must be r eset or po we red Off and On t o r esum e nor mal oper ation. Emer gency Stop using E xternal Switc h An ex ternal swit c h can be ad ded to the AX2500/285 0 to allow the operator to s top the[...]

  • Seite 46

    General O peration 46 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Special Use of Accessory Digital Inputs The AX2500/2850 in cludes tw o genera l purpose dig ital inputs id entified as Input E and Input F . O n the AX28 50, input E is disabl ed. Th e location o f these inputs on the DB1 5 con- nect or can be [...]

  • Seite 47

    AX2500/2850 Mo tor Controlle r User ’ s Manual 47 Self-T est Mode Af ter a f ew second s, the LEDs will dis pla y a sequen ce of two n umerical digits and an opti onal le t ter se parate d by dashe s as sh own in the examp les be low . Af ter these digits are displa yed , the controll er will at tempt to po wer the m otors. Moto r 1 will be ra mp[...]

  • Seite 48

    General O peration 48 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005[...]

  • Seite 49

    AX2500/2850 Mo tor Controlle r User ’ s Manual 49 AX250 0/2850 Connections SECTION 5 Connecting S ensor s and A ctuator s to Input/Outputs Thi s sectio n descri bes the v arious i nputs an d output s and pro vides g uidance on ho w to conne ct senso rs, ac tuators or o ther ac cessor ies to t hem. AX2500/2850 Conn ections The AX2500/2850 us es a [...]

  • Seite 50

    Connecting S ensor s and A ctuators to Input/Outputs 50 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Pr o gram S e t R es e t S e t Re se t 5 6 7 9 8 4 3 1 2 1 - DC Motors 2- Optiona l sensors : - T ac h ometers (Clos ed loop Sp eed mode) - P oten tiometers ( Ser vo mode) - Optica l Encoder (AX2850 only - al l[...]

  • Seite 51

    AX2500/2850 Mo tor Controlle r User ’ s Manual 51 AX250 0/2850 ’ s Inputs and Outputs AX2500/2850 ’ s Inputs and Outputs In additio n to the RS23 2 and R/C c ha nnel comm unicatio n lines, the AX2500/2850 includes se vera l inputs and outputs f or v arious sensors an d act uators. D epending o n the sel ected operatin g mode, some of these I/[...]

  • Seite 52

    Connecting S ensor s and A ctuators to Input/Outputs 52 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 I/O List an d Pin Assi gnment The figure and table belo w lists al l the input s and outp uts that are av ailabl e on the AX25 00/ 2850. T ABLE 1 2. DB15 c onnector pin assignment Pin Numbe r Wire Color* Input [...]

  • Seite 53

    AX2500/2850 Mo tor Controlle r User ’ s Manual 53 Connecting devic es to Output C *The wir e color s are those used by Robo teq on our p refabric ated c ables. It is recom - mended you use these colors f or con sistency . **T hese con nections should onl y be done in RS 232 mode o r R/C mod e with radio pow- ered from the con troller . Other wise[...]

  • Seite 54

    Connecting S ensor s and A ctuators to Input/Outputs 54 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 When the c ontroller is used i n RS2 32 mode, th is output c an be t urned On and Of f using the !C (On) and !c (Of f) command strings. S ee “ R S232 Comma nds Set ” on page 92 for more inf ormation. Import[...]

  • Seite 55

    AX2500/2850 Mo tor Controlle r User ’ s Manual 55 Connecting S witc hes or De vices to Input E This output i s not a v ailable on the AX2850 or on the AX2 550 with the E ncoder Mod- ule in stalled. Connecting S witc h es or Devices to Input E Input E is a genera l purpose, d igital input. T his inp ut is only a ctive w hen in the R S232 a nd Anal[...]

  • Seite 56

    Connecting S ensor s and A ctuators to Input/Outputs 56 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 be activ ated b y a sim ple switc h connected to +5V and no e xternal resistor , as sho w in the Figur e. The status of Input F can b e read i n the R S232 m ode with the ?i com mand string. The co n- troller w[...]

  • Seite 57

    AX2500/2850 Mo tor Controlle r User ’ s Manual 57 Connecting P osition P otentiometers to Analog Inputs The status of the EStop/ Inv c an be rea d at all tim es in the R S2 32 mode with the ?i com- mand s tring. The con troller wil l respond w ith three se ts of 2 dig it numbers. T he s t at us of the ES/In v Inpu t is containe d in the last set [...]

  • Seite 58

    Connecting S ensor s and A ctuators to Input/Outputs 58 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Connecti ng the pote ntiometer to the control ler is as s imple as shown in the di agram on Figur e 29. The potentiom eter must be at t ac hed to the mot or frame s o that its bo dy does not mo ve in relation s[...]

  • Seite 59

    AX2500/2850 Mo tor Controlle r User ’ s Manual 59 Connecting External Thermistor to Analog Inputs The tac hometers can generate v oltages in e x cess of 2.5 volts at ful l speed. It i s important, theref ore, to s et the pote ntiometer to the minimu m va lue (cur sor all the wa y do wn p er this dra wing) duri ng the first in stallation. Since in[...]

  • Seite 60

    Connecting S ensor s and A ctuators to Input/Outputs 60 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The rmistor are non-line ar de vices. Us ing the c ircuit descri bed on Fi gure 31, the controller will re ad the f ollo wing v alues ( represented in signe d binary) according to th e temperat u re. T o read t[...]

  • Seite 61

    AX2500/2850 Mo tor Controlle r User ’ s Manual 61 Connecting User De vices to Analog Inputs Using these resis tor valu es, it is possibl e to measure a vo ltage ranging from -5V to + 60V with a 0.25 V resolution. The f ormul a for con v erting the A/D reading in to a vol t age v alue is as follows. Meas ure d volts = ((contr oller r eading + 1 28[...]

  • Seite 62

    Connecting S ensor s and A ctuators to Input/Outputs 62 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Internal V oltage Mon itoring Senso rs The AX2500/2850 i ncorporate s v oltage sensors that mon itor the Main B at tery voltage a nd the Internal 1 2V supply . This inf ormation is us ed by the controll er to p[...]

  • Seite 63

    AX2500/2850 Mo tor Controlle r User ’ s Manual 63 T emperature Con v er sion C S ource Code T emperature Con v er sion C Source Cod e The code belo w can be us ed to con vert the ana log readi ng into temperat ure . It is provid ed f or ref erence on ly . Interpolation table is f or the intern al thermistor s. int ValToHSTemp(int AnaValue) { // I[...]

  • Seite 64

    Connecting S ensor s and A ctuators to Input/Outputs 64 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005[...]

  • Seite 65

    AX2500/2850 Mo tor Controlle r User ’ s Manual 65 Use of the LE D Displa y SECTION 6 Normal and F ault Condition LED Messages Thi s sectio n discus ses the meaning of th e va rious mes sages and codes th at ma y be dis - pla yed on the LED d ispla y during n ormal ope ration and faul t conditions . Use of the LED Display The AX2500/2850 uses a si[...]

  • Seite 66

    Normal and F ault Condition LED Messages 66 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Motor Direction Status When the c ontroller is r unning, two pa irs of LED segm ents are d irectly rela ted to com - mand inf ormatio ns to the P o we r Output stage. Th e position and mea ning of the segme nts is sho wn i[...]

  • Seite 67

    AX2500/2850 Mo tor Controlle r User ’ s Manual 67 Fau l t M e ss ag es Fault M essages The AX25 00 /2850 u ses th e LED di splay to r epor t fault co nditio ns. Wh en th ese me ssages are dis play ed, the m otors are normally sto pped. No Contr ol Thi s message is disp lay ed in the R/C mode to i ndicate tha t no v alid radio s ignal has been det[...]

  • Seite 68

    Normal and F ault Condition LED Messages 68 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Emergency St op The “ Emergency Stop ” message is displ ay ed af ter the moto rs hav e stopped f ollo wing an emergenc y stop cond ition trigg ered b y an y of the meth ods desc ribed in Figu re , “ Emer- gency Shut [...]

  • Seite 69

    AX2500/2850 Mo tor Controlle r User ’ s Manual 69 Mode Description SECTION 7 R/C Operation Thi s section describes the contr oller ’ s wiring and func tions specif ic to the R/C radio control mode. Mode Des cription The AX2500/2850 c an be direc tly con nected to an R/C receiv er . In thi s mode, the spee d or positio n inf ormatio n is contain[...]

  • Seite 70

    R/C Oper ati on 70 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 S electing the R/C Input Mode The R/C Input Mo de is the f acto r y def ault set tin g . If the con troller ha s been pre viou sly set to a di f f erent I nput Mode, it will b e necessary to reset it to the R/C mode using one o f the f ollow ing m[...]

  • Seite 71

    AX2500/2850 Mo tor Controlle r User ’ s Manual 71 Connector I/O Pin Assignment (R/C Mode) • at le ast on e moto r • optional 1 2V bac kup pow er supp ly fo r the contro ller • R/C radio See “ Conn ecting P owe r and Motor s to the Controll er ” on pa ge 25. T he connec tion to the R/C radio is further detailed n this c hapter . The opti[...]

  • Seite 72

    R/C Oper ati on 72 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 R/C Inpu t Circuit Description The AX2500/2850 in cludes a n optical i solation barrie r on the Cha nnel 1 and Ch annel 2 R/C radio in puts. Figure 41 sho ws an electric al representation of the R/C input c ircuit. Th e right side is pow ered from[...]

  • Seite 73

    AX2500/2850 Mo tor Controlle r User ’ s Manual 73 Supplied Cable Description Supplie d Cable Descrip tion The AX2500/2850 is deliv ered with a custom cable that can eas ily be ada pted to op erate in an y of the su pported is olated a nd non is olated mo des. T he figure s belo w sho w the ca ble and its wiring di agram Isolator Power 14 3 7 8 6 [...]

  • Seite 74

    R/C Oper ati on 74 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 . The wire loo p is used to bring po wer fro m the cont roller ’ s internal po we r supply to th e optocou plers and to t he R C radio. L ea ving the l oop untouc hed causes the contro ller to operate in non-isola ted mode, with po w er flo wing[...]

  • Seite 75

    AX2500/2850 Mo tor Controlle r User ’ s Manual 75 Cabling to R/C Receive r with P artial Opto-Isolation The opto iso lators mus t be po we red with a 5V suppl y for their buil t-in ampli fiers to w ork. Thi s po wer is normally su pplied from the R/C radio ’ s ba t tery as detailed in the diagra m on Figur e 45 . Note tha t if full o ptical iso[...]

  • Seite 76

    R/C Oper ati on 76 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 pow er v oltage are still se parate, some protectio n remains sh ould the c ontroller f ail and accid entally genera te a high voltage on its +5V ou tput. Figure 46 sho ws the ca bling of the R/C rad io to the controller w hen Channel 3 is used an[...]

  • Seite 77

    AX2500/2850 Mo tor Controlle r User ’ s Manual 77 P o wering the Radio fr om the controller Importa nt W arning Do not conne ct a bat t ery to the radio w hen in this m ode. The bat te ry volta ge wi ll flow dir ectly into t he con trol ler and c ause pe rm anent d amage i f its voltag e is higher than 5. 5V . Notice that in th is config uration,[...]

  • Seite 78

    R/C Oper ati on 78 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Los ing the o ptical isol ation increa se the risks that damage in the contro ller will reac h the radio, al though thes e risks remain e xtremely low . Without optical is olation, th e radio is less immune to elec trical “ noi se ” and theref[...]

  • Seite 79

    AX2500/2850 Mo tor Controlle r User ’ s Manual 79 Reception W atc hdog F or best results, relia bility and saf e t y , the co ntroller will also perf orm a se ries of cor rec- tions, a djustmen ts, and c hec ks to the R/C co mmands, as describe d in the f ollo wing sec- tions. Reception Wa tc hdog Immedia tely af ter it is pow ered on, if in th e[...]

  • Seite 80

    R/C Oper ati on 80 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Another im portant consid eration is th e R/C receiv er ’ s abi lit y to oper ate in a n electr ically noisy e nviro nment: the AX25 00/2850 switc h es high cur rent at v er y high frequencies. Su c h transien ts along long bat ter y and motor w[...]

  • Seite 81

    AX2500/2850 Mo tor Controlle r User ’ s Manual 81 Command Control Curves Command Co ntr ol Curves The AX2500/2850 can also be set to tra nslate the j oy stic k motor comman ds so that the motors re spond dif fere ntly whet her the jo ysti c k is ne ar the cen ter or near th e extrem es. Fiv e dif fere nt expon ential or l ogarithmi c transla tion[...]

  • Seite 82

    R/C Oper ati on 82 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The re are tw o method s for c alibrati ng the jo y stic ks: • The a utomatic method is the simpl est and is b ased on the controller “ learn ing ” the joy stic k ’ s parameters u sing the s imple traini ng seque nce desc ribed bel ow . ?[...]

  • Seite 83

    AX2500/2850 Mo tor Controlle r User ’ s Manual 83 Activ ating the Accessory Outputs Notes: If y ou at tempt to calibra te the jo ysti c ks whil e the radio i s of f or no t connecte d to the co n- troller , the calibration data will no t c han ge and the pre viou sly stored i nforma tion wil l con- tinu e to be used. If cali bration i s perf orme[...]

  • Seite 84

    R/C Oper ati on 84 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Data Logg ing in R/C Mode While in R/C Mode, the AX2500/2850 w ill continuo usly se nd a string of c harac ters on th e R S232 outp ut line. T his st ring will contain 1 2 t w o-digits he xad ecimal nu mber repres enting the 1 2 follo wing o perat[...]

  • Seite 85

    AX2500/2850 Mo tor Controlle r User ’ s Manual 85 Data Logging in R/C Mode 1 2 3 4 7 8 9 5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 6 RX Data RS232 Data Out GND R/C Ch 1 R/C Ch 2 R/C GND R/C +5V GND DB9 Female T o PC DB15 Male T o AX2550 FIGURE 55 . Modified R/C cable w ith RS2 32 output f or data loggin g to a PC 1 2 3 4 7 8 9 5 1 2 3 4 5 6 7 8 9 10 [...]

  • Seite 86

    R/C Oper ati on 86 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005[...]

  • Seite 87

    AX2500/2850 Mo tor Controlle r User ’ s Manual 87 Use and benefits of RS232 SECTION 8 S erial (RS-232) Contr ols and Operation Thi s sectio n descri bes the co mmunicatio n set tings and the c ommands accepte d by the AX2500/2850 i n the R S232 mode of operatio ns. T his inf ormation i s useful if y ou p lan to write y our o wn con trolling s of [...]

  • Seite 88

    Serial (RS-232) Contr ols and Operation 88 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Connector I/O Pin Assi gnment (RS232 Mode) When use d in the R S232 m ode, the pi ns on the controlle r ’ s DB1 5 connector are mapped as des cribed in the t abl e belo w T ABLE 1 7 . D B1 5 Connector pin assignment in RS[...]

  • Seite 89

    AX2500/2850 Mo tor Controlle r User ’ s Manual 89 Cable configuration Cabl e conf ig uration The R S232 connec tion requi res the s pecial ca bling as described in the fi gure belo w . T he 9- pin f emale connecto r plugs in to the PC (or other micro controlle r). The 1 5-pin male co nnec- tor plugs into the AX 2500/2850. It is cri tical tha t yo[...]

  • Seite 90

    Serial (RS-232) Contr ols and Operation 90 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Commu nicat ion Set tin gs The AX2500/2850 se rial commun ication port is se t as f ollo ws: 960 0 bits/s, 7 -bit data, 1 Star t bit, 1 St op bit, Ev en P a r ity Communi cation is done wi thout flo w control, meaning t hat[...]

  • Seite 91

    AX2500/2850 Mo tor Controlle r User ’ s Manual 91 Establishing Manual Communica tion with a PC and Inst al ling th e Utilit y ” on pa ge 159). The conf igur atio n fil e is set to use the COM 1por t. Y ou can easily c hange this set ting to a dif f erent port from the program ’ s menus. In all c ases, immedi ately af ter reset or po we r up, [...]

  • Seite 92

    Serial (RS-232) Contr ols and Operation 92 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Thi s inf ormation c an be saf ely ignored a nd the con troller will s till be a ble to switc h to R S232 mode upon rece iving 1 0 con tinuou s Carria ge Re turns as des cribed ab ov e. The format of the data logging s trin[...]

  • Seite 93

    AX2500/2850 Mo tor Controlle r User ’ s Manual 93 RS232 Commands Set !B7F c han nel 2, 1 00% forward !a3F c han nel 1, 50% rev erse Notes: The hexadeci mal nu mber must alw ays c ontain tw o digits . F or e xample, !a 5 will not be recogni zed and the contr oller wil l respond with a “ - ” to indicate an error . T he proper c om- mand in this[...]

  • Seite 94

    Serial (RS-232) Contr ols and Operation 94 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 ex er cising the c ontroller m anually , y ou ma y use th e Deci mal to He xadec imal con ve rsion table on page 1 03. Query Amps Consumed by Motors Descrip tion: This quer y will caus e the con trol ler to return the a ctu[...]

  • Seite 95

    AX2500/2850 Mo tor Controlle r User ’ s Manual 95 RS232 Commands Set Query Heatsi nk T emperatures Descrip tion: Thi s query will cause the controlle r to ret urn v alues based on the temp eratu re measu red by internal t hermistors located at e ac h he atsink sid e of the co ntroller . Be cause NTC ther- mistors are non-l inear de vices , the co[...]

  • Seite 96

    Serial (RS-232) Contr ols and Operation 96 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 R eply: nn mm oo Where: nn = Inp ut E st atus mm = I nput F stat us oo = E stop/In ver t Swi tc h Input s t at us Exampl es: ?I Re ad Input stat us query 01 Controller r eplies, In put E is On 00 Inpu t F is Off 01 Emergenc[...]

  • Seite 97

    AX2500/2850 Mo tor Controlle r User ’ s Manual 97 Optical Encoder Commands Notes: All pa rame ters and valu es are e xp resse d with 2 hexadeci mal di gits No c ha nges will be made and an error will be repo rted ( “ - ” c h aracter) when at tempting to read or write a p arameter that doe s not exist or w hen at tempti ng to store a parame te[...]

  • Seite 98

    Serial (RS-232) Contr ols and Operation 98 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Command Ac knowledgement The AX2500/2850 w ill ac knowle dge comm ands in one of two wa ys: F or comm ands that c ause a reply , suc h as a speed or a mps queries, th e reply to the quer y must be consi dered as the comma n[...]

  • Seite 99

    AX2500/2850 Mo tor Controlle r User ’ s Manual 99 RS232 Acc essible P arameter T able RS232 Accessible P arameter T able T able 1 8 below lists the co mplete set of configura tion paramete rs that ma y be acce ssed and c ha nged using R S232 comma nds. T ABLE 18. AX2500/2850 Conf iguration parameters accessible through RS232 Pa r a m nbr Descript[...]

  • Seite 100

    Serial (RS-232) Contr ols and Operation 10 0 AX2500/2850 Motor C ontroller User ’ s Manu al V ersion 1 .7. F ebr uar y 1, 2005 04 Input sw itc h func- tion Bits 0 to 3 contain the ESto p/Inv in put operat ing mode 0 = cau ses emergenc y stop 1 = invert comma nds (2) = no a ction (de fault ) Bits 4,5 a nd 6.7 con t ain the Input E and Input F res [...]

  • Seite 101

    AX2500/2850 Mo tor Controlle r User ’ s Manual 101 Automatic S witc hing fr om RS232 to RC Mode Automatic Switc hin g from RS232 to RC Mode In man y com puter contr olled app lication, i t may be usefu l to allo w the controller to s witc h bac k to the RC mode. T his w ould typically us ed to let a us er to take o v er the contro l of a robotic [...]

  • Seite 102

    Serial (RS-232) Contr ols and Operation 10 2 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 to re vert th e controller i n the R C mode (the controller mu st be configu red to def ault to R C mode). Th e swit c hing s equence goes as foll ows : Upon contro ller power on wit h Radio of f: (o r Radi o on wit h R[...]

  • Seite 103

    AX2500/2850 Mo tor Controlle r User ’ s Manual 10 3 Data Logging Cables DB1 5 connector is desc ribed on page 85 for the R/C mode , and on page 1 1 3 f or the Analog mode. Thi s string i s composed of a start c haracter delimi ter , follo w ed by 1 2 or 1 3 two-digi t Hexa - decima l numbers represent ing 1 2 o r 1 3 internal p arameter v alues, [...]

  • Seite 104

    Serial (RS-232) Contr ols and Operation 10 4 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 logging purposes . Thi s cable ha s a 1 5 -pin male connector a nd 3 1 5 -pin conn ectors. T he male c onnector plug s into the controlle r . The a pplication cable th at wo uld normall y plug into the c ontroller may n[...]

  • Seite 105

    AX2500/2850 Mo tor Controlle r User ’ s Manual 10 5 Decimal to He xadecimal Con v ersion T able 6 0 6 3 82 67 0 4 61 0 2 6 6 7 0 7 3 92 77 1 4 71 0 3 6 7 8 0 8 4 02 87 2 4 81 0 4 6 8 9 0 9 4 12 97 3 4 91 0 5 6 9 1 0 0A 42 2A 7 4 4A 1 06 6A 1 1 0B 43 2B 7 5 4B 1 07 6B 1 2 0C 44 2C 7 6 4C 1 08 6C 1 3 0D 45 2D 7 7 4D 1 09 6D 1 4 0E 46 2E 7 8 4E 1 1 [...]

  • Seite 106

    Serial (RS-232) Contr ols and Operation 10 6 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 -1 20 1 36 88 -88 1 68 A8 -56 200 C8 -24 232 E8 -1 1 9 1 37 89 -87 1 69 A9 -55 20 1 C9 -23 233 E9 -1 18 1 38 8A -86 1 70 AA -54 202 CA - 22 234 EA -1 1 7 1 39 8B -85 1 7 1 AB -53 203 CB - 21 235 EB -1 1 6 1 40 8C -84 1 [...]

  • Seite 107

    AX2500/2850 Mo tor Controlle r User ’ s Manual 10 7 Mode Description SECTION 9 Analog Contr ol and Operation Thi s sectio n descri bes ho w the motors may be opera ted using analog voltage c ommands. Mode Desc ription The AX2500/2850 ca n be con figured to u se a 0 to 5V analog v oltage, typic ally prod uced using a potenti ometer , to con trol e[...]

  • Seite 108

    Analog Control and O peration 10 8 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 Connector I/O Pin Assi gnment (Analog Mod e) When use d in the An alog mod e, the pins on the contro ller ’ s DB1 5 con nector are mapped as des cribed in the t abl e belo w T ABLE 21 . DB15 Connector pin assignme nt in Analog [...]

  • Seite 109

    AX2500/2850 Mo tor Controlle r User ’ s Manual 10 9 Connecting to a V oltage S ource Connecting to a V oltage S ource The analog inputs e xpec t a DC v oltage of 0 to 5V whic h can be so urced b y an y custom cir- cuitr y (po tent iomete r , Digit al t o Ana log co nv ert er). The controlle r considers 2.5V to be the z ero position (Motor Of f). [...]

  • Seite 110

    Analog Control and O peration 11 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The controlle r include s two 47K ohm resis tors pull ing the in put to a mi d-vo ltage point of 2.5V . When configu red in the An alog Inpu t mode, this w ill cause the motors to b e at the Of f state if t he control ler is po wer[...]

  • Seite 111

    AX2500/2850 Mo tor Controlle r User ’ s Manual 111 Analog Deadband A djustment 1 00K or higher pote ntiometer . Figure 66 sho ws ho w the output v oltage va ries at the v ari- ous pote ntiometer pos itions, f or three typical p otentiomete r va lues. Note tha t the ef f ect is an exponen tiatio n that wi ll cau se the mo tors to st art moving slo[...]

  • Seite 112

    Analog Control and O peration 11 2 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 Importa nt Notice Some analo g joys ticks do not caus e the pot entiomet er t o r eac h either e xtr emes. This ma y caus e the an alog v oltage ran ge t o be abo v e 0V and below 5V when th e stic k is mo ve d to the extr emes, [...]

  • Seite 113

    AX2500/2850 Mo tor Controlle r User ’ s Manual 11 3 Data Logging in Analog Mode • Internal Hea t Sink tempera ture s 1 and 2 • Main B at ter y v oltage • Internal 1 2V voltage • Encoder Sp eed or P osition (A X2850) The entire string is repeate d ev ery 21 3 millisecond s with the la test internal parameter v al- ues. This i nfo rmation c[...]

  • Seite 114

    Analog Control and O peration 11 4 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005[...]

  • Seite 115

    AX2500/2850 Mo tor Controlle r User ’ s Manual 11 5 Mode Description SECTION 10 Closed Loop P osition Mode Thi s sectio n describes the AX2500/2850 P osition mo de, ho w to wire the motor and posi- tion sen sor ass embly , and ho w to tune and opera te the con troller in t his mode. Mode Desc ription In this mode, the axle o f a geare d do wn mot[...]

  • Seite 116

    Closed Loop P osition Mode 11 6 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 P os ition Se nsor S electi on The AX2500/2850 ma y be used with th e fol lowi ng kind of sensors: • P otentio meters • Hall ef fec t angula r sensors • Opti cal En coders The first two a re used to generate an anal og vo ltag[...]

  • Seite 117

    AX2500/2850 Mo tor Controlle r User ’ s Manual 11 7 P otentiometer wiring The mec ha nical coupli ng betwee n the motor and the s ensor must be as tight as possibl e. If the gear b ox is loose, the positioni ng will no t be accurate a nd will b e unstable, pote ntially causing t he motor to o scillate. Some se nsor , suc h as potent iometers, h a[...]

  • Seite 118

    Closed Loop P osition Mode 11 8 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 In the P ositi on mode , the co ntroller c ompares the act ual p osition, as measu red b y the sen- sor , to the des ired positio n. If the mo tor is not at that p osition, the c ontroller wil l apply pow er to the motor so th at it t[...]

  • Seite 119

    AX2500/2850 Mo tor Controlle r User ’ s Manual 11 9 Adding S afety Limit S witc hes Nev er apply a comman d that is low er than the sensor ’ s minimum output v alue, or higher than the sen sor ’ s maximum output v alue as the motor w ould tur n f orev er try- ing t o reac h a position it can ’ t . For examp le if the max position of a poten[...]

  • Seite 120

    Closed Loop P osition Mode 12 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The second m ethod uses the AX2500/2850 ’ s Emergency Sto p input to sh ut dow n the con- troller if any of the limit s witc hes i s tripped. Figure 72 sh ows the wiring diag ram used in this c ase. Eac h of the lim it switc h es is[...]

  • Seite 121

    AX2500/2850 Mo tor Controlle r User ’ s Manual 121 Control Loop Description Figure 7 3 sho ws a repr esentation of t he PID al gorithm. Ev ery 1 6 mill iseconds, the control - ler measure s the act ual mo tor position a nd substracts it from the d esired position to com- pute the p osition er ror . The resulting error v alue is then multi plied b[...]

  • Seite 122

    Closed Loop P osition Mode 12 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 PID tuning in P osition Mod e As di scusse d abov e, thre e paramet ers - P roportiona l Gain, Inte gral Gain and Dif fere ntial Gain - ca n be adjus ted to t une the p osition control algorithm. The ultimate goa l in a w ell t uned P[...]

  • Seite 123

    AX2500/2850 Mo tor Controlle r User ’ s Manual 123 Mode Description SECTION 1 1 Closed Loop Speed Mode Thi s section dis cusses the AX2500/2850 Clos e Loop Spe ed mode. Mode Desc ription In this mode, an analog or digital sp eed sens or measures the ac tual motor sp eed and com- pares i t to the desi red speed . If the spe ed c ha nges becau se o[...]

  • Seite 124

    Closed Loop Speed Mode 12 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Using Optical Encoder for Speed F eedbac k (AX2850 only) Digital Optic al Enco ders ma y be used to capt ure ac curate mo tor speed. This capabili ty is only a v ailable o n the AX2850 or AX2550 fi t ted wi th the optio nal encoder module[...]

  • Seite 125

    AX2500/2850 Mo tor Controlle r User ’ s Manual 125 Speed Sens or and Motor P olarity Connecti ng the tac ho meter to the controller is as simp le as sh own in the dia gram in t he figure be low . Speed S ensor and Mot or P olari ty The tac hometer o r encoder polarity (i.e. w hic h rotation d irection produces a positiv e of negativ e speed info [...]

  • Seite 126

    Closed Loop Speed Mode 12 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 6. Apply po we r to the Moto r P o wer wires (thic k pow er wires). T he motor w ill be stopped . 7. Mov e the cursor of the desired motor to the right so that the mot or starts rotating, and v erify that a positiv e speed is reported. Mo[...]

  • Seite 127

    AX2500/2850 Mo tor Controlle r User ’ s Manual 127 Control Loop Description Control Loop De script ion The AX2500/2850 pe rforms the Closed Loop Sp eed mode using a full f eat ured P ropor- tional, Integral and Dif f eren tial (PID) a lgorithm. This tec hnique h as a long h istor y of usage in control s ys tems and w orks o n perf orming ad justm[...]

  • Seite 128

    Closed Loop Speed Mode 12 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 PID tuning in Speed Mo de As di scusse d abov e, thre e paramet ers - P roportiona l Gain Inte gral Gain, and Dif fere ntial Gain - can b e adjusted to tune th e Closed L oop Speed con trol algorith m. The ultimate goal in a w ell t uned [...]

  • Seite 129

    AX2500/2850 Mo tor Controlle r User ’ s Manual 129 PID tuning in Speed Mode[...]

  • Seite 130

    Closed Loop Speed Mode 13 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005[...]

  • Seite 131

    AX2500/2850 Mo tor Controlle r User ’ s Manual 131 Optical Increm ental Encoders Overview SECTION 12 Installing, Connecting and Using the Encoder Module Thi s sectio n describes the Encod er input mo dule that is f actory installed ins ide the AX2850, o r that ma y be a dded onto the AX2550. Optical Incremental Encoder s Overview Optica l increme[...]

  • Seite 132

    Installing, Connecting and Using the E ncoder Mod- 13 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The figure bel ow s hows the typical co nstr uction of a quadrat ure enc oder . As the disk rotates in front o f the stationar y mask , it shut te rs light from the LED . T he light th at passes through th e ma[...]

  • Seite 133

    AX2500/2850 Mo tor Controlle r User ’ s Manual 133 Installing the Encoder Module Specifi cally , the en coder mod ule can p rocess 250, 00 0 co unts per sec onds. A s discu ssed in the pre vio us section, a count i s generated f or eac h transition o n the Chan nel A and Channel B . Ther efore the module will w ork with encoders out put tin g up [...]

  • Seite 134

    Installing, Connecting and Using the E ncoder Mod- 13 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 When ins talling y ourself , fol low the se simpl e steps 1 - With the pow er rem ov ed, remo ve controll er ’ s face plate and sli de off the cover 2- Car efully insert the encod er module on top of the two [...]

  • Seite 135

    AX2500/2850 Mo tor Controlle r User ’ s Manual 135 Connecting the Encoder 4- Slide the co ve r bac k on. Install the ne w f ace plate 5- P owe r on the con troller and install v ersion 1 .6 or ne wer of the controll er firmw are and P C utility . Update the encoder fi rmwa re if a ne w v ersion e xists . Connecting t he Encoder The Encoder module[...]

  • Seite 136

    Installing, Connecting and Using the E ncoder Mod- 13 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Moto r - Enco der P olarit y Matc hing When usi ng the Enc oder modu le for closed l oop spee d control, it is imperat ive t hat when the motor is t urning in the f or ward direction, the counter increments its[...]

  • Seite 137

    AX2500/2850 Mo tor Controlle r User ’ s Manual 137 Wiring Optional Limit S witc hes In Figure 84, the encoder and switc hes are wir ed to the en coder mod ule using a set of resisto rs desig ned to c reate a multi-le v el sig nal combi ning bot h inf ormati on. Details o n the nece ssary wiring is prov ided in t he ne xt sect ion. Since th e enco[...]

  • Seite 138

    Installing, Connecting and Using the E ncoder Mod- 13 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Usin g this circu it, whe n the s witc h is open, a 0V (l ow -level) outp ut fro m the e ncode r goes through a 1k an d 4.7k v oltage divi der , thus cr eating a v oltage th at will nev er be belo w 0.8V at the[...]

  • Seite 139

    AX2500/2850 Mo tor Controlle r User ’ s Manual 139 Using the Encoder to Measure Speed Using the Encoder to Measure Speed The encoder module w ill autom atically c ompute rotation speed f or eac h encoder . T he resultin g measur ed speed is a v alue rang ing from 0 t o + 1 27 and 0 to - 1 27 , where 1 2 7 rep- resent a relativ e ratio of a m axim[...]

  • Seite 140

    Installing, Connecting and Using the E ncoder Mod- 14 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Using the En coder to T rac k Po sition The encoder module c an be u sed to report the distance between the act ual moto r position and a des ired desti nation. T he resul ting meas ured “ distan ce ” can t[...]

  • Seite 141

    AX2500/2850 Mo tor Controlle r User ’ s Manual 141 RS232 Communication with the Encoder Mo dule Encoders do not r epor t an absol ute pos ition v alue but a c ount that is r el ative t o the point wher e the m otor shaf t was at po w er up. It is typically necessary t o ha ve the moto rs m ov e d to a “ home ” position and r eset the count er[...]

  • Seite 142

    Installing, Connecting and Using the E ncoder Mod- 14 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Details on sof twa re updatin g is giv en in section Figure , “ Upd ating the Encode r Sof tware , ” on page 1 52. RS232 Encoder Co mmand Set The Encoder m odule res ponds to a d edicated set of com mands a[...]

  • Seite 143

    AX2500/2850 Mo tor Controlle r User ’ s Manual 143 RS232 Encoder Command S et S et/Reset Encoder Counter s and Destination Registers Descrip tion: Set one o r both coun ters to z ero or a us er -defin ed v alue. T he va lue is a s igned 32 b it num- ber that m ay range from - 2,1 47 ,836,648 to +2,1 47 ,836,647 ( Hexad ecimal f ormat of valu e 80[...]

  • Seite 144

    Installing, Connecting and Using the E ncoder Mod- 14 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Notes: The comman d ret urns a s igned he xade cimal n umber whe re 0 to +1 27 is repre sented b y 00 to 7F , and -1 to -1 27 is rep resented b y FF to 80 resp ectivel y . The he xadec imal f ormat is intended [...]

  • Seite 145

    AX2500/2850 Mo tor Controlle r User ’ s Manual 145 RS232 Encoder Command S et Note that f or this function to work, limit switc hes must be c onnected to the encode r mod- ule usi ng the sp ecial wi ring diag ram sho w in “ Wiring Optional L imit S witc hes ” on pag e 1 37. If no limi t swit c hes a re pres ent, this q uer y will return th e [...]

  • Seite 146

    Installing, Connecting and Using the E ncoder Mod- 14 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Read par amet er Syn t a x: * mm R eply: DD Where mm = address lo cati on of p aramet er DD = parameter v alu e Exampl e: *84 Read v alue of parameter a t address he x 84 01 Controller r eplies, v alu e is 0 1 [...]

  • Seite 147

    AX2500/2850 Mo tor Controlle r User ’ s Manual 147 Reg ister Descr ipt ion Importa nt W arning Do not alt er an y o ther ar ea locations a s this ma y cause pr ogr am ex ecution f ailure inside the encoder mod ule. Regist er Descri ption Encoder Hardw are ID code R eturn s a 4-bi t number i dentifying the enco der modul e hardw are v ersion and t[...]

  • Seite 148

    Installing, Connecting and Using the E ncoder Mod- 14 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 S witc h St atus R eturn s a 4 bi t number (4 least signi ficant bit s of the b yte), eac h representi ng the state of one of the limi t switc h when installe d. The ?W comm and desc ribed at “ R ead Encode r[...]

  • Seite 149

    AX2500/2850 Mo tor Controlle r User ’ s Manual 149 Counter Read Data Format Speed 1 and 2 The se regist ers contain a s igned 8-bi t value (-1 27 to +1 27) that repres ents the moto r speed relativ e to a maxim um speed, whic h in turn depends on th e number of enco der counts and time bas e set tings as descri bed in “ Using t he En coder t o [...]

  • Seite 150

    Installing, Connecting and Using the E ncoder Mod- 15 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 When rea ding the c ounter v alue into a microc omputer , the re ve rse opera tion must tak e place: any output that i s less than 8 digit long must be c ompleted w ith a string of 0 ’ s if the first digit i [...]

  • Seite 151

    AX2500/2850 Mo tor Controlle r User ’ s Manual 151 Encoder T esting and Set ting Using the PC Utility • Set and pro gram the Enco der module ’ s parameters in EEPR OM • Activ ate th e motors in e ac h direc tion at v ariable speed • Vie w the m easured enc oder counts • Vie w the m easured enc oder spee d • Vie w the s t at us of the [...]

  • Seite 152

    Installing, Connecting and Using the E ncoder Mod- 15 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Ex ercising the Motors A set of b ut tons a nd slide rs are pro vider to starting/stoppin g commun ication with the con- troller a nd encoder . When com municat ion is ac tive , the screen will be u pdated with[...]

  • Seite 153

    AX2500/2850 Mo tor Controlle r User ’ s Manual 153 SECTION 13 Conf iguring the Contr oller using the S witc hes The AX2500/2850 Speed Con troller can be pro grammed to operate in many modes using a simple se t-up proced ure. T wo but tons and a 7 -segmen t LED displ ay l et the user e xamin e and c ha nge thes e set tin gs. Alterna tivel y , the [...]

  • Seite 154

    Configuring the Controller using the Switc hes 15 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Entering Pr ogramming Mode P rogrammi ng mode is entere d by pressing a nd holdin g the Program but ton for 1 0 sec onds af ter reset ting the control ler . The c ontroller c an be reset b y po we ring it do wn an [...]

  • Seite 155

    AX2500/2850 Mo tor Controlle r User ’ s Manual 155 Pr ogramming using built-in S witc hes and Display Be car eful not t o c onfuse the Set and Pr ogra m butt on when ent er ing the Pr ogr am- ming Mode . Pr essing an d holdin g the Set but to n alone f or 1 0 seconds af ter r eset will cause the c ontrolle r to ent er in sel f-test mod e. This wi[...]

  • Seite 156

    Configuring the Controller using the Switc hes 15 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 reset ti ng the con troller . All parame ters, includi ng J oy stic k limits will be reset to the ir defa ult v alues sho wn in th e “ Pro grammable P arame ters List ” on page 1 56 Exit ing t he Parame ter Set[...]

  • Seite 157

    AX2500/2850 Mo tor Controlle r User ’ s Manual 157 Pr ogrammable P arameters List This ta ble sho ws only the par amet ers that can b e prog ram med using the switc hes and displ ay . Other le ss comm only use d para meters e xist and are only ac cessib le and pr o- gramm abl e usin g the Co nfig urati on Uti lit y (pa ge 1 59) or the RS2 32 c om[...]

  • Seite 158

    Configuring the Controller using the Switc hes 15 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 *The coas t fun ction is not im pleme nted in thi s revisio n of the sof twa re. The con troll er wil l only op erate in b rake mode. ** V alue s are i n hexade cimal numbe rs whe re the d ecima l values 1 0, 1 1 ,[...]

  • Seite 159

    AX2500/2850 Mo tor Controlle r User ’ s Manual 159 SECTION 14 Using the Roborun Conf iguration Utility A PC bas ed Configura tion Uti lity is av ailabl e, free of c harge, from Robo teq. T his pro- gram makes configuri ng and op erating the AX2500/2850 muc h more int uitiv e b y using p ull-do wn menu s, but tons and sli ders. T he utility can a [...]

  • Seite 160

    Using the Roborun Configuration Utility 16 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 • af ter the in stallation is comple te, you will be able to r un the prog ram from y our Start Menu > Programs > Robo teq Y ou do not need to h av e the con troller connec ted to y our PC to start the Utility . C[...]

  • Seite 161

    AX2500/2850 Mo tor Controlle r User ’ s Manual 161 Roborun Frame, T ab and Menu Descriptions Roborun F rame, T ab and Menu Descripti ons The Ro boru n screen contains the fou r main set of comma nds and in fo rmation fra mes des cribe d below: 1 - Progr am Revision Number Thi s is the revisio n and da te of the R obor un utili ty . It i s recomme[...]

  • Seite 162

    Using the Roborun Configuration Utility 16 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 With the port op en, R obor un will tr y to establish communi cation with the controlle r . If suc- cessful, thi s windo w will displa y the sof t w are revis ion, the re vision date and a set of digits identify ing hardw[...]

  • Seite 163

    AX2500/2850 Mo tor Controlle r User ’ s Manual 163 Loading, Changing Controller P arameter s Control s Set tings The scre en shown in Figure 94 i s used t o view and c hange th e cont roll er ’ s main contro l modes. Belo w is the list of the param eters acces sible from thi s screen 1 - Contr oller Inp ut: Thi s pull d own menu allo ws y ou to[...]

  • Seite 164

    Using the Roborun Configuration Utility 16 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Thi s pull do wn men u will le t you s elect the con troller ’ s respons e to c h anges on the opti onal sw itc h in put: Emerge ncy St op, I nv ert C omman ds, or no act ion. Se e “ Emergenc y Stop using Extern al Sw[...]

  • Seite 165

    AX2500/2850 Mo tor Controlle r User ’ s Manual 165 Loading, Changing Controller P arameter s Analog or R/C Specif ic S et tings The screen sho wn i n Figure 96 is slightly d if f erent w hether the Anal og Input mo de is selec ted or not. If th e Anal og Inpu t mode is sele cted on t he main scre en, the n this p age is used to set the Analog D e[...]

  • Seite 166

    Using the Roborun Configuration Utility 16 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Closed Loop P arameter s Thi s screen shown in Figure 97 is us ed to set the P rop ortional, Inte gral and Di f f erential gains needed f or the PID a lgorithm. Thes e parameters are used in the P osition mode (s ee page [...]

  • Seite 167

    AX2500/2850 Mo tor Controlle r User ’ s Manual 167 Optical Encod er Operation Optical Encoder Operati on The Ro boru n utility pro vides many fac ilities f or conf iguring a nd testing the Optic al Encoder module contained in the AX2850. Thes e are des cribed in detail in “ Encoder T es ting and Set ting Using the PC Utility ” on page 1 50 Ru[...]

  • Seite 168

    Using the Roborun Configuration Utility 16 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 1 - Run/Stop But t on Thi s but ton will cause th e PC to s end the r un comm ands to th e controller a nd will update the scre en with measure ments receiv ed from th e controll er . When the program is runni ng, the but[...]

  • Seite 169

    AX2500/2850 Mo tor Controlle r User ’ s Manual 169 Running the Motors The Po we r field disp lay s the po w er le vel that is act uall y being applied to the motor . T his va lue is d irectly relate d to the mo tor command e x cept du ring cur rent limitati on, in wh ic h case the p ow er le vel w ill be the o ne needed to keep the Amps w ithin t[...]

  • Seite 170

    Using the Roborun Configuration Utility 17 0 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 three dig ital inputs prese nt on the contro ller . Blac k rep resents a “ 0 ” lev el. Gr een repre - sent s a “ 1 ” level. 7 - Data Logg ing and Timer A timer is prov ided to keep trac k of time while r unning th[...]

  • Seite 171

    AX2500/2850 Mo tor Controlle r User ’ s Manual 17 1 Running the Motors line of th e sa ve file contains the Header n ames. Eac h follo win g line co ntains a com plete set of pa rameters. Th e Header name , order and pa rameter de finition is s hown i n T able 28 Connecting a Jo ystic k Exe rcising the motors can eas ily be do ne using a Jo ys ti[...]

  • Seite 172

    Using the Roborun Configuration Utility 17 2 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Vi ew ing and Logging D ata in Analog and R/C Modes When the c ontroller is config ured in R/C o r Analog m ode, it will automatic ally an d continu- ously s end a string of A SCII c hara cters on the R S232 outpu t. “ [...]

  • Seite 173

    AX2500/2850 Mo tor Controlle r User ’ s Manual 17 3 Operating the AX250 0/2850 o ver a Wi red or Wireless LAN T o operate o ver t he netw ork two comp uters are required, a s show in Figure 1 0 0 belo w . The top com puter is connecte d to the con troller vi a its COM port. B oth co mputers are con- nected to a TCP/IP n et w ork. The computer con[...]

  • Seite 174

    Using the Roborun Configuration Utility 17 4 AX2500/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 Updating th e Contr oller ’ s S of tw are The AX25 00 /285 0 ’ s ope rating so f tware c an be easi ly upgrad ed af ter it has lef t the fa ctory . Thi s f eat ure makes it poss ible to a dd ne w f eat ures and enha [...]

  • Seite 175

    AX2500/2850 Mo tor Controlle r User ’ s Manual 17 5 Creating Cust omized Object Files Creating a custom object file c an easily be done u sing the Ob jectmak er utility . T his short program is automa tically installed in the Start menu w hen installin g the R obor un uti lity . 1 - Use the R obor un utili ty to create an d sa ve t o disk a pro f[...]

  • Seite 176

    Using the Roborun Configuration Utility 176 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005[...]

  • Seite 177

    AX2500/2850 Mo tor Controlle r User ’ s Manual 17 7 Mec hanical D imensions SECTION 15 Mec h anical Specif ications Th is sect ion details the mec hanical c haracte ristics o f the AX2 500/2850 co ntrolle r . Mec h anical Dimensions The AX2500/2850 is built int o a e xtru ded alumi num case w hic h also serves as a heat s ink f or its ele ctronic[...]

  • Seite 178

    Mec hanical Speci fications 17 8 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Mounting Co nsideratio ns Mounting brac k ets o n eac h en d are pro vided for du rable asse mbly of the controlle r onto any c hassis. The AX2500/2850 us es no ju mpers and include s no loose p arts or wi res. Conse quently , it wil[...]

  • Seite 179

    AX2500/2850 Mo tor Controlle r User ’ s Manual 17 9 Wire Dimensions F or high current app lications, it is possi ble that the c ontroller ma y hea t-up fa ster and to a highe r tem perature than c an be di ssipa ted by th e heatsi nk en closu re usi ng natural convec- tion alon e. In these applicatio ns, you should ens ure that air flo w e xists [...]

  • Seite 180

    Mec hanical Speci fications 180 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005[...]