RoboteQ AX3500 Bedienungsanleitung

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208

Zur Seite of

Richtige Gebrauchsanleitung

Die Vorschriften verpflichten den Verkäufer zur Übertragung der Gebrauchsanleitung RoboteQ AX3500 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 AX3500, 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 AX3500 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 AX3500. 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 AX3500 sollte vor allem folgendes enthalten:
- Informationen über technische Daten des Geräts RoboteQ AX3500
- Den Namen des Produzenten und das Produktionsjahr des Geräts RoboteQ AX3500
- Grundsätze der Bedienung, Regulierung und Wartung des Geräts RoboteQ AX3500
- 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 AX3500 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 AX3500 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 AX3500 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 AX3500, 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 AX3500 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

    AX350 0 Dual Chann el High P o w er Digital Motor Contr oller User ’ s Manual v1 .9b, June 1, 2007 visit www . robot eq.com to download the lat est revisio n of thi s manua l ©Cop yright 2003-2007 R oboteq, I nc.[...]

  • Seite 2

    2 AX3500 Motor Con troller User’ s Manua l V ersion 1 .9b. J une 1 , 2007[...]

  • Seite 3

    AX3500 Motor Controll er User ’ s Manu al 3 Revision History The inf ormation contained in this manua l is belie v ed to be a ccurate and reliable. Ho we ver , it ma y contain e rrors tha t were not notic ed at time of publicati on. User’ s are expect ed to perf orm thei r own pro duct v alidat ion and n ot rely solel y on data contained in thi[...]

  • Seite 4

    4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]

  • Seite 5

    AX3500 Motor Controll er User ’ s Manu al 5 Re vi sion Hist or y 3 SECTION 1 Impo rt ant S af et y W arn ings 13 This produc t is inte nded for use with rec harge able bat teries 13 A v oid Sho rts when M ounting Board agains t Chass is 13 Do no t Con nect t o a R C Radi o wi th a B at ter y At tac hed 13 Be ware of Motor Runa wa y in Improperly [...]

  • Seite 6

    6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 SECTION 5 Genera l Operat ion 41 Ba sic Oper ation 41 Inpu t Comm and Mo des 41 Selec ting the Motor C ontrol Mo des 42 Open Loop, Sepa rate Speed Control 42 Open Loop, Mi xed Speed Cont rol 42 Closed Loop Speed Con trol 43 Close Loop P osi tion Cont rol 43 User Sel ected C[...]

  • Seite 7

    AX3500 Motor Controll er User ’ s Manu al 7 SECTION 7 RC Pu ls es Ou tp u t 71 RC Pulse Output Ov er vi ew 71 Conne ctor Location an d Pinout 72 Conne cting Ser vos to Co ntroller s 72 Ser vo Connec tion to RevA Contr ollers 72 Ser vo Connec tion to RevB Contr ollers 73 Conne cting to S lav e Contr ollers 73 P ulse T iming Inf orma tion 74 RC Cha[...]

  • Seite 8

    8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Adding Safety Limit Switc hes 95 Using Cu rrent Limitin g as Protection 97 Contro l Loop Descr iption 97 PID tuning in P osition M ode 98 SECTION 10 Closed Loop Speed Mo de 101 Mode Descri ption 101 Selecti ng the Spee d Mode 10 1 T ac hometer or En coder Moun ting 10 2 T a[...]

  • Seite 9

    AX3500 Motor Controll er User ’ s Manu al 9 SECTION 13 Analog Con trol and Op eration 127 Mode Descrip tion 127 Conne ctor I/O Pi n Assignment (Analog Mod e) 128 Conne cting to a V olt age Source 12 9 Conne cting a P ote ntiometer 12 9 Select ing the P ote ntiomet er V alue 13 0 Analog Dea dband Adjustmen t 131 Po w e r - O n S a fe t y 132 Under[...]

  • Seite 10

    10 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Acc el er at io n 150 Input Switc hes F unction 151 RC Joys ti c k o r A na lo g De ad ba nd 152 Expone ntiation on Channel 1 and Channel 2 152 Lef t /Right Adjust 152 Default Encoder T ime Base 1 and 2 153 Default Encoder Di sta nce Divider 153 Default PID Gains 154 Jo ys[...]

  • Seite 11

    AX3500 Motor Controll er User ’ s Manu al 11 Programming usi ng built -in Switc hes and Dis play 17 5 Entering Programming Mod e 17 6 Changing pa rameters 17 7 T he Spec ial Case of J o ysti c k Calibra tion 17 7 Re stor ing f actory def aults 178 Exitin g the Pa rameter Set ting Mode 17 8 Programmable Parameters List 17 8 SECTION 16 Using t he R[...]

  • Seite 12

    12 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]

  • Seite 13

    AX3500 Motor Controll er User ’ s Manu al 13 SECTION 1 Impor tant S afe ty W arnings Read this Section First The AX3500 is a high po wer electr onics dev ice. Ser iou s damag e, including fir e, may occur t o the unit, motors, wir ing an d batt er ies a s a r esult of its misuse. T r ansist ors ma y exp lode and r equir e the use of s af ety glas[...]

  • Seite 14

    Imp ortant Sa fety Wa rnin gs 14 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]

  • Seite 15

    AX3500 Motor Controll er User ’ s Manu al 15 SECTION 2 AX350 0 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 AX3500 controller i n a minima l configu ration. What you will need F or a mi nimal in stallation, ga ther the f oll owing c omponent s: • One AX3500 Contro lle[...]

  • Seite 16

    AX350 0 Quic k Start 16 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 The front side (sho wn in Figure 1) contains the but to ns and displa y needed to opera te and monitor th e controll er . The 1 5-pin connecto r prov ides the connecti on to the R/C ra dio, jo y- stic k or microcom puter , as w ell as connec tions to o[...]

  • Seite 17

    AX3500 Motor Controll er User ’ s Manu al 17 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- nect ing wires to the Fa st-on tabs on the control ler. 1 - Connect ea c h motor to one of the tw o M+ and M- tabs pairs. Ma ke[...]

  • Seite 18

    AX350 0 Quic k Start 18 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Do not r ely on cu ttin g pow er t o the contr oller f or it to t ur n of f if the P o w er Contr ol is lef t floating. I f mot ors ar e spinning because the r obo t is pushed ar e pus hed or because of inerti a, they will act as g e[...]

  • Seite 19

    AX3500 Motor Controll er User ’ s Manu al 19 Connecting the R/C Radio Connecting t he R/C Radio Connect the R/C adapter cable s to the controller on one side and to two or three c hannels on the R/C r eceiv er on the other side. When opera ting the cont roller in “ Sep arate ” mode, the wire labe lled Ch1 con trols Motor1, and the wire labe l[...]

  • Seite 20

    AX350 0 Quic k Start 20 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 T o pow er the con troller , center th e jo ystic k and trims on the R/C trans mit ter . In An alog mode, c enter the co mmand po tentioment er or jo ys tic k.T hen t urn on the switc h that y ou ha ve p laced on the on the P o wer C ontrol inpu t. If t[...]

  • Seite 21

    AX3500 Motor Controll er User ’ s Manu al 21 Default Controller Configuration Default Co ntroller Conf iguration V ersion 1 .9b of the AX3500 sof tw are is config ured with the fa ctor y def aults sho wn in the table belo w . Although Robote q strive s to k eep the sam e parameters and v alues from one ve rsion to the nex t, c han ges ma y occur [...]

  • Seite 22

    AX350 0 Quic k Start 22 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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: • to R ead and S[...]

  • Seite 23

    AX3500 Motor Controll er User ’ s Manu al 23 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 c ontroller . Conne ct the 9- pin conn ector to y our PC ’ s avail able po rt (t ypic ally CO M1) - use a US B to serial adapter i f needed[...]

  • Seite 24

    AX350 0 Quic k Start 24 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 It is also poss ible to get the controll er to displa y the sof tware version nu mber by follo wing these s imple ste ps • Disconnect th e pow er fro m the motor bat teries. P ow er the cont roller only v ia the P o wer C ontrol inpu t. • Press an d[...]

  • Seite 25

    AX3500 Motor Controll er User ’ s Manu al 25 SECTION 3 AX350 0 Motor Contr oller Ov er view Congrat ulati ons! B y selec ting R oboteq ’ s AX3500 you ha v e empo w ered yo urself with the industr y ’ s mos t versa tile, and prog rammable DC Mo tor Controlle r for mobile robots. This ma nual wi ll guide you step b y step th rough its m any pos[...]

  • Seite 26

    AX350 0 Motor Controller Ove r vie w 26 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The motors ar e driv en using high-ef fi ciency P ow er MOSFE T transi stors con trolled us ing Pulse W idth Modul ation (PWM) at 1 6kHz. The AX350 0 power st ages can ope rate f rom 1 2 to 40VD C and can s ustain up to 60A of controlle [...]

  • Seite 27

    AX3500 Motor Controll er User ’ s Manu al 27 T ec hnical features • Motor temp erat ure senso r inputs • Externa l voltage sensors • User defi ned purpos e (RS2 32 mode o nly) • 2 Extra anal og inputs (on Re vB hardw are). Used a s: • P otentiometer in put fo r position while in analog command mode • User defi ned purpos e (RS2 32 mod[...]

  • Seite 28

    AX350 0 Motor Controller Ove r vie w 28 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 • 60A up to 1 5 second s (per c hannel) • 50A up to 3 0 seconds • 40A e xtended • High cur rent op eration ma y be e xtend ed with f orced c ooling • 250A peak Amps per c hannel • 1 6kHz P ulse Width Modulati on (PWM) outp ut[...]

  • Seite 29

    AX3500 Motor Controll er User ’ s Manu al 29 P o wer Connections SECTION 4 Connecting P o w er and Motor s to the Contr oller Thi s section describes the AX35 00 Controller ’ s connecti ons to po wer sourc es and moto rs. 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 ir- ing er[...]

  • Seite 30

    Connecting P o wer and Motors to the Controller 30 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Co ntro ll er P ower The AX3 50 0 uses a flexible power supp ly scheme th at is best de scrib ed in Figur e 9. In this diagram, i t can be s een that th e po wer f or the Con troller ’ s microcompu ter is separate from this [...]

  • Seite 31

    AX3500 Motor Controll er User ’ s Manu al 31 Controller P o wer When po w ered on ly via th e P o w er Control input, th e controller will t urn On but moto rs will not be a ble to tu rn until po w er is also pre sent on the VM ot tabs The P ow er Co ntrol input al so ser ves as t he Enab le sig nal for the DC /DC converter . When floating or pul[...]

  • Seite 32

    Connecting P o wer and Motors to the Controller 32 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 All 3 grou nd (-) are connecte d to eac h o ther insid e the controll er . The tw o main ba t ter y wires a re also con nected to eac h o ther interna lly . How e ver , y ou must nev er assu me that connec ting one w ire of a [...]

  • Seite 33

    AX3500 Motor Controll er User ’ s Manu al 33 Controller P o wering S c hemes The re is no need to inser t a separate switc h on P ow er cabl es, although f or sa f ety reasons, it is highly recommend ed that a w ay of quic kly disconne cting the Motor P ow er be pro vided in the c ase of lo ss of control and all of the AX3500 saf et y f eat ures [...]

  • Seite 34

    Connecting P o wer and Motors to the Controller 34 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Unless y ou can ensur e a st eady 12V to 40V v oltag e in all cond itions, it is r e com- mend ed th at th e battery u sed to power the c ontroll er ’ s e lectronics be sep arate fr om the one us ed to p [...]

  • Seite 35

    AX3500 Motor Controll er User ’ s Manu al 35 Single Channel O peration If yo u ar e using this type of motor , mak e sur e that it is mo unted on i solato rs and that its casi ng will not caus e a shor t circ uit with other mot ors and circui ts which may also be i nadv ert ently con nect ed to the same me tal chass is. Single Channel Operation T[...]

  • Seite 36

    Connecting P o wer and Motors to the Controller 36 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 It will be saf e to wire in paralle l the con troller ’ s outputs onl y af ter y ou ha v e verifi ed that both outp uts react ide ntically to c hannel 1 commands. Po we r F u s e s F or lo w Amperage applica tions (belo w 30[...]

  • Seite 37

    AX3500 Motor Controll er User ’ s Manu al 37 Wire Length Limits Wire Length Limits The AX3500 regulates the o utput pow er b y switc hing the pow er to the m otors On and Of f at high frequencie s. At suc h frequenci es, the wi res ’ indu ctance produc es undes irable ef f ec ts suc h as parasiti c RF emis sions, ringi ng and o v er vo ltage pe[...]

  • Seite 38

    Connecting P o wer and Motors to the Controller 38 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 that time , the regene rated curren t will at tempt to flo w bac k to the bat tery . Since none i s present, the v oltage will ri se to pote ntially uns af e le vel s. The AX 3500 include s an o ve r volt- age prote ction circ[...]

  • Seite 39

    AX3500 Motor Controll er User ’ s Manu al 39 Using the Controlle r with a P ow er Supply Using the Contro ller with a P o wer Suppl y Using a transf ormer or a switc hing pow er s upply is po ssible b ut requires special c are, as the cur rent will want to flow bac k from the motors to th e pow er s upply during regenera- tion. As di scussed in ?[...]

  • Seite 40

    Connecting P o wer and Motors to the Controller 40 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Seite 41

    AX3500 Motor Controll er User ’ s Manu al 41 Basic Operat ion SECTION 5 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 AX35 00 ’ s o peration c an be summa riz ed as f ollo ws: • Recei ve c ommands fro m a radio receiv er , joy stic k or a mic roc[...]

  • Seite 42

    General O peration 42 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Selecting the Moto r Control Modes F or eac h motor , the AX3500 support s multipl e motion cont rol modes . The controller ’ s fa c- tory def ault m ode is Open Loop Speed co ntrol f or eac h motor . The mo de can b e c hanged using a ny o f the meth o[...]

  • Seite 43

    AX3500 Motor Controll er User ’ s Manu al 43 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this mode, ill ustrated in F igure 18 , an analog tac hometer or an optical enc oder is u sed to measure the act ual moto r speed. If the speed c hanges because of c hang es in loa d, the controll er automa tically com pensates th e pow e[...]

  • Seite 44

    General O peration 44 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 User Selected Current Limit Set tings The AX35 00 has curr ent sen sors at each of its t wo outp ut st age s. Ever y 1 6 ms, thi s cur- rent is m easured and a corre ction to th e output po we r lev el is applied if higher tha n the user pres et v alue. T[...]

  • Seite 45

    AX3500 Motor Controll er User ’ s Manu al 45 Battery Cu rren t vs . Mot or Cur ren t When the measured temperat ure rea c hes 80oC , the co ntroller ’ s maximu m cur rent limit begins to drop to reac h 0A at 1 00oC. Abov e 1 0 0oC, the c ontroller ’ s po w er stage t urns i tself of f com pletely . The numb ers i n the tab le ar e the ma x Am[...]

  • Seite 46

    General O peration 46 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The relation between B at te r y Curr ent and Motor c urren t is giv en in the formul a belo w: Motor Cu rr en t = Bat tery Cur ren t / PWM Ratio Example: I f the contro ller reports 1 0A of ba t tery current wh ile at 1 0% PWM, the c urrent i n the motor[...]

  • Seite 47

    AX3500 Motor Controll er User ’ s Manu al 47 Pr ogrammable A ccelerati on P rogrammable A cceleration When c hanging sp eed comm and, the AX3 500 will go fr om the pres ent speed to the desir ed one at a user s elect ab le accel erati on. This feature is ne cessar y in ord er to min imize the surge curr ent and mec hanical stress du ring abr upt [...]

  • Seite 48

    General O peration 48 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 When con figuring th e accelera tion param eter using the Ro boru n utility , four additiona l accel eration steps can be s elected between th e six ones selectable u sing the swi tc h, ex tending the s low est acce leration to 2.04 seconds fro m 0 to max[...]

  • Seite 49

    AX3500 Motor Controll er User ’ s Manu al 49 Lef t / Right T uning Adjustment The AX35 00 is deli vered wi th the “ li near ” cu r ves se lected f or bo th joy stic k c hannels . T o select di f f erent cur ve s, the user will nee d to c hang e the valu es of “ E ” (c hanne l 1) and “ F ” (c ha nnel 2) ac cording to th e table belo w [...]

  • Seite 50

    General O peration 50 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 is f ound on a ll R/C transmi t ters, and whi c h is ac tual ly an of fset corr ection, the L ef t/Right A djustmen t is a tr ue mul tiplicati on fa ctor as s hown in Figur e 22 The curves on the lef t show how a giv en f or ward direction command value w[...]

  • Seite 51

    AX3500 Motor Controll er User ’ s Manu al 51 Activ ating Brake Release or Separate Motor Ex citation Activ ating Br ak e Releas e or Separate Mot or Ex citation The controlle r may b e configur ed so that the Output C w ill t urn On when ev er one of the two moto rs is r unning. T his f ea ture is typically us ed to ac tiva te the mec hanical bra[...]

  • Seite 52

    General O peration 52 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The swi tc h conne ction is desc ribe d in “ Conn ectin g Switc hes or Devic es to E Stop/ Invert Input ” o n page 6 1. Th e switc h must be suc h that it i s in the open state i n the norm al sit ua- tion and closed to signal an emergenc y stop c omm[...]

  • Seite 53

    AX3500 Motor Controll er User ’ s Manu al 53 Self-T est Mode When the input is pull ed high, a ll the po we r MOSFE Ts are t urned Of f so tha t the motors are ef fe ctiv ely discon nected from the contro ller . Thi s function i s t ypi cally used to c reate a “ dead ma n swi tc h ” when the co ntroller is driv en using a n analog j oys tic k[...]

  • Seite 54

    General O peration 54 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 • Encoder Sp eed or P osition The entire string is repeated e ve r y 224 milliseco nds with the latest inte rnal parameter v al- ues. This in fo rmation c an be logged using th e Robo r un Utility (see “ Vi ewi ng a nd Log gi ng Data in Analog a nd R/[...]

  • Seite 55

    AX3500 Motor Controll er User ’ s Manu al 55 AX350 0 Connections SECTION 6 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. AX3500 Connections The AX3500 uses a s et of po wer wires ([...]

  • Seite 56

    Connecting S ensor s and A ctuators to Input/Outputs 56 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 AX3500 ’ s Inputs an d Output s In addi tion to t he RS2 32 and R/C c hannel comm unicatio n lines, the AX3500 incl udes se v- eral inputs and o utputs for v arious s ensors and act uators. D epending on the se lected o[...]

  • Seite 57

    AX3500 Motor Controll er User ’ s Manu al 57 AX350 0 ’ s Inputs and Outputs ating mo de, some of these I/ Os pro vide f e edbac k and/or saf et y in forma tion to the controll er . When the controller operates i n modes that do not use these I/O , these sign als bec ome av ail able f or user applicat ion. B elo w is a summa r y of the a v ailab[...]

  • Seite 58

    Connecting S ensor s and A ctuators to Input/Outputs 58 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 AX35 00. T ABLE 1 0. DB1 5 connector pin assign ment Pin Numbe r Input or Output Signal depending o[...]

  • Seite 59

    AX3500 Motor Controll er User ’ s Manu al 59 Connecting devic es to Output C **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 . Connecti ng devi ces to Output C Output C is a buf f ered , Open Drain MOSFE T output c apable of driv ing o ver 2A a t up to 24V . The diagrams on F igure[...]

  • Seite 60

    Connecting S ensor s and A ctuators to Input/Outputs 60 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s output ca n be t urned On and Of f using the Chann el 3 J oy stic k when in th e R/C mode. See “ Note: Ch annel 3 is not a v ailable on the cont rollers eq uipped w ith enco der input s. ” on page 1 24 for more [...]

  • Seite 61

    AX3500 Motor Controll er User ’ s Manu al 61 Connecting S witc hes or De vices to EStop/In v ert Input On co ntrollers p rior to R ev B , Input F is an opto-c oupled in put and requires th e buf f er to be pow ered with a c onnection be tween pin 1 4 and 7 , and be t w een 1 3 and 6, to op erate.T his pow er c onnection in not neede d on R evB h [...]

  • Seite 62

    Connecting S ensor s and A ctuators to Input/Outputs 62 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The stat us of the ES top/In v can be rea d at all times in t he RS2 32 mode w ith the ?i com- mand s tring. The con troller will re spond w ith three sets of 2 digit n umbers. T he stat us of the ES/In v Inpu t is contai[...]

  • Seite 63

    AX3500 Motor Controll er User ’ s Manu al 63 Connecting T ac hometer to Analog Inputs Connecti ng the pote ntiometer to the control ler is as simple as sho wn in the di agram on Figur e 32. The potentiom eter must be at t ac hed to the mo tor frame so th at its bo dy does no t mov e in relation ship with the motor . T he potent iometer axle must [...]

  • Seite 64

    Connecting S ensor s and A ctuators to Input/Outputs 64 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Since th e controll er only acc epts a 0 to 5V p ositiv e vol t age as its inpu t, the circu it show n in Figure 33 mus t be used between the controlle r and the tac hometer: a 1 0k Ohm potentiom - eter i s used to sc ale[...]

  • Seite 65

    AX3500 Motor Controll er User ’ s Manu al 65 Connecting External Thermistor to Analog Inputs Connecti ng External Thermi stor to An alog Inputs Using e xterna l thermist ors, the AX35 00 can be made to superv ise the motor ’ s temp era- t ure and adjust the po w er output in case of o v erheatin g . Con necting th ermistors is done according to[...]

  • Seite 66

    Connecting S ensor s and A ctuators to Input/Outputs 66 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 T o read t he temp erature, use th e ?p comma nd to ha ve t he control ler ret urn the A/D con- ve rter ’ s v alue. T he v alue is a si gned 8-bi t hex adecimal v alu e. Use the c hart data to con v ert the ra w reading[...]

  • Seite 67

    AX3500 Motor Controll er User ’ s Manu al 67 Connecting User De vices to Analog Inputs Meas ure d volts = ((contr oller r eading + 1 28) * 0.255) -5 Note: The A/D con verter ’ s reading is ret urned b y the ?p comma nd and is a signe d 8-bit hex adecim al val ue. Y ou must add 1 28 to bring its ra nge from -1 27/+1 27 to 0/255. Connecting User [...]

  • Seite 68

    Connecting S ensor s and A ctuators to Input/Outputs 68 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The se sensors are used to a utomatical ly reduce the maximum Am ps that the co ntroller can de live r as it o v erheats. Ho w ev er , the temp erat ure can b e read usi ng the R S232 port using th e ?m quer y , or during[...]

  • Seite 69

    AX3500 Motor Controll er User ’ s Manu al 69 Internal Heats ink T emperat ure Sensors else { LoTemp =i*5-4 0 ; HiTemp = LoTemp + 5; lobound = TempTable[i]; hibound = TempTable[i+1]; temp = LoTemp + (5 * ((AnaValue - lobound) *100/ (hibound - lobound)))/100; return temp; } }[...]

  • Seite 70

    Connecting S ensor s and A ctuators to Input/Outputs 70 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Seite 71

    AX3500 Motor Controll er User ’ s Manu al 71 RC Puls e Output Overvie w SECTION 7 RC P ulses Output Thi s sectio n describes the P ulse outputs on the AX35 0 0. RC Pulse Output Overview The AX3500 is equipp ed with a n RC pu lse outpu t port fo r driving R C servos or a dditional R oboteq co ntrollers. Up to 8 de vices ca n be con trolled in this[...]

  • Seite 72

    RC Pulse s Output 72 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Connector Location and Pinout Figure 4 0 belo w sho ws the lo cation of the RC Output con nector an d its pin a ssignment. Thre e pins a re pro vided f or eac h output, ma tc hing t he pinout of s tandard F utaba RC con - nect ors. Connecting S ervo s to C[...]

  • Seite 73

    AX3500 Motor Controll er User ’ s Manu al 73 Connecting to Slav e Controllers In most a pplica tions, ho we v er , a separate pow er supp ly must b e prov ided to po w er the ser vos. , as s hown in Fi gure 42. Note: When at tempti ng to supp ly po wer from the AX3500 to a s tandard or hea vy duty ser v o, the cur rent will surge e very time the [...]

  • Seite 74

    RC Pulse s Output 74 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 ler . T he figures b elow sho ws how to make th is conne ction. T he red wi re from the AX3 500 to the Sla v e Controller may be lef t u ncut if the red loop wire is cut instead . A more detaile d descriptio n of the AX35 00 RC Inp ut circuit can b e f oun[...]

  • Seite 75

    AX3500 Motor Controll er User ’ s Manu al 75 RC Channel T esting Using the PC Utility Importa nt W arning The *mm c ommand is also used to acc ess the En coder module ’ s registers. Do not alt er an y r andom loca tions as this ma y ca use pr ogr am exec ution f ailur e i nside the encoder m odule. See “ Re giste r Descr iption ” on pag e 1[...]

  • Seite 76

    RC Pulse s Output 76 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Seite 77

    AX3500 Motor Controll er User ’ s Manu al 77 Optical Increm ental Encoders Overview SECTION 8 Connecting and Using the Encoder Fu n c t i o n Thi s sectio n describes the Encod er input modu le that is built i nto the AX35 00 . Optical Incremental Encoder s Overview Optic al incre ment al enc oder s are a mea ns for capturin g speed and travelled[...]

  • Seite 78

    Connecting and Using the Encoder F unction 78 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 the mask is recei ved b y th[...]

  • Seite 79

    AX3500 Motor Controll er User ’ s Manu al 79 Connecting the Encoder 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 to 62,500 pul[...]

  • Seite 80

    Connecting and Using the Encoder F unction 80 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Cable Length and Noise Considerations Cable shou ld not exc eed one 3 ’ (one meter) to a voi d electrica l noise to be capt ured b y the wiring. A f er rite core fi lter must b e used f or length bey ond 2 ’ (6 0 cm). F o r lon[...]

  • Seite 81

    AX3500 Motor Controll er User ’ s Manu al 81 V oltage Lev els, Thresholds a nd Limit Switc h es Using the PC util it y , it is possible to ex ercise the motors a nd vie w the enco der readin gs. See “ Enc oder T esting and Set ting Using the PC Utility ” on page 87 . If the Enc oder coun ts bac kw ards w hen the mo tor mov es f or ward , cor [...]

  • Seite 82

    Connecting and Using the Encoder F unction 82 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning When a lim it switc h is activ at ed, the enc oder signal that is shar ed with the switch is no long er visible by the encoder module, and pulse c ounting and spe ed measur e- ment st ops. Wiring Optional Limit [...]

  • Seite 83

    AX3500 Motor Controll er User ’ s Manu al 83 Wiring Limit S witc hes Without Encoders When the switc h is activ ated, the m odule ’ s inpu t is pull ed to 0V . It is recomm ended that a v oltmet er and/or oscill oscope be us ed to verify that the right v olt- age le v els are crea ted as the e ncoder rotates and the switc hes activ ate. Y ou ma[...]

  • Seite 84

    Connecting and Using the Encoder F unction 84 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 In Singl e Channel Mode, li mit switc hes 3 a nd 4 are u sed. Th is is to allo w direct c onnection of an e nco der on t he inp uts for c hannel 1 and di rect conne ction of swi tc hes on the i nputs f or c hanne l 2 Using the Enco[...]

  • Seite 85

    AX3500 Motor Controll er User ’ s Manu al 85 Using the Encoder to T rac k P osition The relations hip betw een the me asured spee d and the act ual speed i s a f actor of tw o va ri- able pa rameters: a Time B ased peri od v alue sto red inside the Encoder m odule an d the Encoder ’ s number of P ulses p er Re v olution. No te: the Encode r ’[...]

  • Seite 86

    Connecting and Using the Encoder F unction 86 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 reac h ed. T his mo veme nt is con trolled b y the PID pos ition al gorithm in side the c ontroller and is t here fore best suit ed at tr ac king p osit ion. Since th e control ler uses a signed 8- bit v alue (-1 27 to +1 27) for t[...]

  • Seite 87

    AX3500 Motor Controll er User ’ s Manu al 87 RS232 Communication with the Encoder Mo dule RS232 Commu nication w ith the Encoder M odule The AX3500 contains its o wn M icrocontro ller and firmw are in Flash. Wh en present , it respond s to a large set of dedi cated com mands and q ueries vi a the contro ller ’ s serial port. See “ RS232 En co[...]

  • Seite 88

    Connecting and Using the Encoder F unction 88 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Seite 89

    AX3500 Motor Controll er User ’ s Manu al 89 Mode Description SECTION 9 Closed Loop P osition Mode Thi s sectio n describe s the AX3500 P o sition mo de, ho w to wire the motor and po sition se n- sor assem bly and ho w to t u ne and opera te the contro ller in this mode. Mode Desc ription In this mode, the axle o f a geare d-down motor is couple[...]

  • Seite 90

    Closed Loop P osition Mode 90 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 P os ition Se nsor S electi on The AX35 00 may be used with t he foll owing kin d of se nsors : • 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 ltage ranging from 0V [...]

  • Seite 91

    AX3500 Motor Controll er User ’ s Manu al 91 Feedba c k P otentiometer wiring The m ec han ical co upling be t w een the motor and th e senso r must be a s tight as po ssible. If the gear bo x i s loose, the po sitionin g will not be accurate and will be unstable, pot entially causing the motor to os cillate. Some sens or , suc h as poten tiomete[...]

  • Seite 92

    Closed Loop P osition Mode 92 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Feedbac k P otentiometer wiri ng in Analog Mode When the c ontroller is config ured in Ana log mode, the analog inputs 1 a nd 2 are use d f or comman ds whil e the analog inputs 3 and 4 are used f or f eedba c k. Ana log inputs 3 and 4 have dif fe[...]

  • Seite 93

    AX3500 Motor Controll er User ’ s Manu al 93 Analog F eedbac k on Single Channel Contr ollers Analog F eedbac k on Single Channel Contr ollers On Sing le Channe l controllers (SC V ersion - no t to be con fused with D ual Chan nel control- lers o f which only on e c hann el is us ed for posi tion contro l - See “ Single Channe l Opera- tion ”[...]

  • Seite 94

    Closed Loop P osition Mode 94 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s wiring is also the one to use when the controlle r is in Analo g mode bu t switc hed to R S232 af ter reset using the method discusse d in “ Enteri ng RS 232 from R/C or Ana log mode ” on pa ge 1 40 Using Optical En coder s in P osi tion[...]

  • Seite 95

    AX3500 Motor Controll er User ’ s Manu al 95 Encoder Err or Detection and Pr otection 10 . If the motor t urns in th e direction a w ay fro m the sensor , then the polari t y is rev ersed . The wire pol arity on the mot ors should b e ex c h anged. If u sing a poten ti- ometer as sensor , t he GND and + 5V wires on the potentiometer may be swappe[...]

  • Seite 96

    Closed Loop P osition Mode 96 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The diode pola rity depends on the pa rticular wirin g and motor orie ntation used in t he appli- cation. If the diod e is mounted bac kw ards, th e motor will not stop on ce the li mit switc h lev er is pressed. If this is th e case, re ve rse th[...]

  • Seite 97

    AX3500 Motor Controll er User ’ s Manu al 97 Using Current Limiting as Pr otection Importa nt W arning Limit switc hes mus t be used w hen oper ating the contr oll er in P osition Mode . This will sign ificantly r educe the r isk of me chani cal damag e and/or injury in case of dam- age to th e position sens or or sensor wir ing. Using Cur rent L[...]

  • Seite 98

    Closed Loop P osition Mode 98 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 A higher P ro portional G ain will ca use the a lgorithm t o apply a h igher le ve l of po we r for a giv en measur ed error , thus maki ng the motor mo ve qui c k er . Becaus e of inertia, ho we v er , a f aster mo ving motor will ha v e more dif[...]

  • Seite 99

    AX3500 Motor Controll er User ’ s Manu al 99 PID tuning in P osition Mode The Rob orun PC utility mak es this e xperimen tation easy b y pro viding one s creen f or c han g- ing t he Pro portional, Integral and Dif f eren tial gains a nd anoth er screen for r unning and monitori ng the moto rs. When t uning the motor , first start with the Integr[...]

  • Seite 100

    Closed Loop P osition Mode 10 0 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007[...]

  • Seite 101

    AX3500 Motor Controll er User ’ s Manu al 101 Mode Description SECTION 10 Closed Loop Speed Mode Thi s sectio n discuss es the AX35 0 0 Clo se L oop Speed 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 of c h an[...]

  • Seite 102

    Closed Loop Speed Mode 10 2 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 Using Optical Encoder for Speed F eedbac k Digi t al O ptical Encod- ers m ay be u sed to ca ptu re accura te motor sp eed. T his capab ility is only a v ailabl e on con- trollers fit ted wi th the optiona l encoder mo dule. Detailed i nform atio[...]

  • Seite 103

    AX3500 Motor Controll er User ’ s Manu al 10 3 Speed Sens or and Motor P olarity 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 rmation) i s related to the motor ’ s ro tat ion sp eed an d the d irect ion th e motor t urns w hen po wer is ap[...]

  • Seite 104

    Closed Loop Speed Mode 10 4 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 A djust Offset and Max Speed F or pr oper operat ion, the contro ller must see a 0 a nalog spee d va lue (2.5V v oltage on th e analog input). T o adjust th e 0 val ue when the m otors are s topped, u se the R obor un utili t y to vie w the analo[...]

  • Seite 105

    AX3500 Motor Controll er User ’ s Manu al 10 5 PID tuning in Speed Mode The Dif f ere ntial compon ent of the alg orithm compute s the c hanges to the er ror from on e 1 6 ms time peri od to the ne xt. T his c hange will be a relativ ely la rge number ev er y tim e an abr upt c hange occurs on the de sired speed val ue or the me asured s peed va [...]

  • Seite 106

    Closed Loop Speed Mode 10 6 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 In Speed Mo de, the Integra l component of th e PID is the mos t important and must be s et first. T he P roportio nal and Dif feren tial comp onent will hel p impro ve th e respons e time and loop stability . In the ca se where the load mo v ed [...]

  • Seite 107

    AX3500 Motor Controll er User ’ s Manu al 10 7 Use of the LE D Displa y SECTION 1 1 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 AX3500 uses a s ingle [...]

  • Seite 108

    Normal and F ault Condition LED Messages 10 8 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 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 are sho wn i n th[...]

  • Seite 109

    AX3500 Motor Controll er User ’ s Manu al 10 9 Fau l t M e ss ag es Fault M essages The AX3500 uses the L ED displa y to re port fa ult condi tions. When th ese mess ages are displa y ed, the m otors are n ormally stopped. 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 detected at its [...]

  • Seite 110

    Normal and F ault Condition LED Messages 11 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 T emporary F aults T emporar y F aults a re conditi on that ca use the contr oller ’ s P ower Output s t age to t urn Of f and rema in of f f or as long as the f ault is p resent. T emporary Faults are indic ated with the LED di [...]

  • Seite 111

    AX3500 Motor Controll er User ’ s Manu al 111 Self-T est Display = Sof tware v ersion 1 .9b FIG URE 70 . Examp le of So f t w ar e revisi on num ber di splay[...]

  • Seite 112

    Normal and F ault Condition LED Messages 11 2 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007[...]

  • Seite 113

    AX3500 Motor Controll er User ’ s Manu al 11 3 Mode Description SECTION 12 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 AX3500 can be di rectly co nnected to an R/C rece iver . In th is mode, the s peed or p osi- tion inf ormat ion is contain ed in[...]

  • Seite 114

    R/C Oper ati on 11 4 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 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 meth od[...]

  • Seite 115

    AX3500 Motor Controll er User ’ s Manu al 11 5 R/C Input Circuit Description R/C Inpu t Circuit Description The AX3500 R/C inputs are direct ly connec ted to the MCU l ogic. Fi gure 73 sh ows an elec- trical repre sentation of the R/C i nput circuit. Supplie d Cable Descrip tion The AX3500 is deliv ered with a custom cable with the fo llow ing wi[...]

  • Seite 116

    R/C Oper ati on 11 6 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 . P o wering the Radio from the contr oller The 5V po wer and groun d signal s that are av ailable on the co ntroller ’ s conne ctor ma y b e used to pow er the R/ C radio. T he wire l oop is us ed to brin g the controlle r ’ s pow er to the the rad[...]

  • Seite 117

    AX3500 Motor Controll er User ’ s Manu al 11 7 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 . This mode of op erati on is t he mos t [...]

  • Seite 118

    R/C Oper ati on 11 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Connecting t o a Separat ely P ow ered Radio Thi s wiring option must be used w hen the contro ller is use d with a R C receiv er that is pow ered by i ts ow n separate bat te r y . The red wire in t he loop must be cut so that the 5V out from th e control[...]

  • Seite 119

    AX3500 Motor Controll er User ’ s Manu al 11 9 Reception W atc hdog ond ind icates th e minimum joy stic k position a nd 2.0 mi llisecon ds indic ates the maximum joy stic k position. When the jo ys tic k is i n the cente r positio n, the pulse s hould be 1 .5ms. Note that the real pulse-len gth to joy sti c k-positi on numbers tha t are generate[...]

  • Seite 120

    R/C Oper ati on 12 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 If no pul ses are p resent, the motors are di sabled, and the co ntroller ’ s disp lay will sc roll alternat ively th e let ters “ no ctrl ” as s how n in Figur e 81 belo w . Af ter pow ering on the R/C radio receiv er and tran smit ter , and if th e[...]

  • Seite 121

    AX3500 Motor Controll er User ’ s Manu al 121 Joystic k Deadband Pr ogramming noise is generated. Sec tion “ Electrica l Noise R eduction T ec hniques ” on page 37 pro vides a f e w suggesti ons f or redu cing the amo unt of elec trical nois e generate d in you r robot. Joystic k Deadband Pro gramming In order to av oid unde sired moto r acti[...]

  • Seite 122

    R/C Oper ati on 12 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Command Cont rol Cu r v es The AX3500 can also be se t to translate the joy stic k motor comma nds so that the m otors respond dif f ere ntly depe nding on whether the joy stic k is near the center or near the ex tremes. Fiv e di f f erent exponen tial or [...]

  • Seite 123

    AX3500 Motor Controll er User ’ s Manu al 123 Automatic Jo ystic k Calibration The re are t w 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 . • The m anual metho d[...]

  • Seite 124

    R/C Oper ati on 12 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 hange a nd the pre viou sly stored i nforma tion wil l con- tinu e to be used. If cali bration i s p[...]

  • Seite 125

    AX3500 Motor Controll er User ’ s Manu al 125 Data Logging in R/C Mode PC ’ s communicati on port. Fi gure 84 an d belo w sho ws the w iring diagra m of the mo dified R/C cable for c onnection to a PC. 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 Ma[...]

  • Seite 126

    R/C Oper ati on 12 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007[...]

  • Seite 127

    AX3500 Motor Controll er User ’ s Manu al 127 Mode Description SECTION 13 Analog Control 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 AX3500 can be configure d to use a 0 to 5V anal og v oltage, typically pro duced us ing a potentiom eter , to control eac h of its t[...]

  • Seite 128

    Analog Control and O peration 12 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 mo de Pin Num[...]

  • Seite 129

    AX3500 Motor Controll er User ’ s Manu al 129 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). 0V is [...]

  • Seite 130

    Analog Control and O peration 13 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 were d with no[...]

  • Seite 131

    AX3500 Motor Controll er User ’ s Manu al 131 Analog Deadband A djustment 1 00K or higher pote ntiometer . Figure 88 sh ows ho w the output v oltage va ries at the v ari- ous pote ntiometer pos itions fo r three typical potenti ometer v alues. Note tha t the ef f e ct i s an exponen tiatio n that wi ll cau se the mo tors to st art moving slowly a[...]

  • Seite 132

    Analog Control and O peration 13 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt Notice Some analo g jo ysticks do not caus e the pot entiomet er t o r eac h either extre me. This may cau se the a nalo g volta ge r an ge to be above 0V an d bel ow 5V wh en the s tick is mov ed t o the extr em e, and ther ef or [...]

  • Seite 133

    AX3500 Motor Controll er User ’ s Manu al 133 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 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 can be logged usi[...]

  • Seite 134

    Analog Control and O peration 13 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007[...]

  • Seite 135

    AX3500 Motor Controll er User ’ s Manu al 135 Use and benefits of RS232 SECTION 14 Serial (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 AX3500 in the R S2 32 mode of operation s. Th is inf ormation is useful if you plan to w rite yo ur ow n controll ing sof t wa re on a[...]

  • Seite 136

    Serial (RS-232) Contr ols and Operation 13 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 23. DB15 Conn ector pin as signment in R S232 mode P[...]

  • Seite 137

    AX3500 Motor Controll er User ’ s Manu al 137 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 3500. It is cri tical tha t you do not [...]

  • Seite 138

    Serial (RS-232) Contr ols and Operation 13 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Commu nicat ion Set tin gs The AX3500 serial comm unication po rt is set as follo 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 the co ntroller[...]

  • Seite 139

    AX3500 Motor Controll er User ’ s Manu al 139 Establishing Manual Communica tion with a PC COM1port. Y ou can easily c hang e this set ting to a dif f e rent port from the program ’ s menu s. Note that s t artin g with v ersion 1 .9, the R obor un PC uti lity also inclu des a T erminal Emul a- tion Cons ole f or commun icating wit h the contro [...]

  • Seite 140

    Serial (RS-232) Contr ols and Operation 14 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Af ter this info rmation i s sent, the En coder ’ s MCU wi ll “ li sten ” for appr oximatel y 1 0 0ms and will enter the In Sy stem P rogramm ing mode (ISP) if the let ter “ Z ” is s en t t o i t . W h il e i n the ISP mo [...]

  • Seite 141

    AX3500 Motor Controll er User ’ s Manu al 141 Commands A c knowledge a nd Error Messages RS232 Mode if default If the con troller is configure d in R S232 mode , it will auto matically be in the R S2 32 mode upon res et or po wer up . In this case, th e “ OK ” message is sent a utomatically , indic ating that the con troller is ready to acce [...]

  • Seite 142

    Serial (RS-232) Contr ols and Operation 14 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 RS-232 W atc hdog F or appl ications de manding the highe st operating s af ety , the controlle r may be configure d to autom atically stop the motors (but other wise rem ain fully a ctive) i f it fa ils to receiv e a c hara cter on[...]

  • Seite 143

    AX3500 Motor Controll er User ’ s Manu al 143 Controller Commands and Q ueries S et Motor Command V alue Descrip tion: Send a spe ed of positio n value from 0 to 1 27 in the f or ward or rev erse dire ction f or a given c han nel. In mi xed mode, c hannel 1 v alue se ts the common forward and rev erse v alue f or both moto rs, while c hannel 2 se[...]

  • Seite 144

    Serial (RS-232) Contr ols and Operation 14 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 applie d to the motors at that tim e. The num ber is a hexa decima l number ranging from 0 to +1 27 (0 to 7F in Hexadec imal) . In most cases, t his value is directl y rela ted to th e comma nd va lue, e xcept in the con ditions d e[...]

  • Seite 145

    AX3500 Motor Controll er User ’ s Manu al 145 Controller Commands and Q ueries Query Analog Inputs Descrip tion: Thi s query will cause the controlle r to ret urn the v alues of the signa ls present a t its two analog inputs. I f the control ler is us ed in cl ose-loop speed mo de with a nalog f ee dbac k, th e va lues repre sent the act ual spee[...]

  • Seite 146

    Serial (RS-232) Contr ols and Operation 14 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Query Bat t ery V oltages Descrip tion: Thi s query will ca use the controlle r to ret urn v alue s based on two i nternally m easured vol t- ages: the fir st is th e Main Batter y volt age pr esent at the thi c k red an d black wir[...]

  • Seite 147

    AX3500 Motor Controll er User ’ s Manu al 147 Acc essing & Changing Configuration P arameter in Flash Syn t a x: % rrrrrr R eply: None. Controller w ill reset and displa y pro mpt message A ccessing & Changing Conf iguration P arameter in Flash It is po ssible t o use R S232 comman ds to e xamine a nd c ha nge the c ontroller ’ s parame[...]

  • Seite 148

    Serial (RS-232) Contr ols and Operation 14 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 used (ins tead of reset ting the controller) to caus e these parameter s to take ef f ect af ter only a ~1 00ms del ay . Syn t a x: ^FF R eply: + Succ ess, c hanged param eters are n ow a ctiv e - if erro r T able 25 bel ow lists th[...]

  • Seite 149

    AX3500 Motor Controll er User ’ s Manu al 149 Acc essing & Changing Configuration P arameter in Flash The se param eters are stor ed in the c ontroller ’ s Flash memory and are not intended to be c hanged at r untime . Importa nt Notice The abo ve para meters are st ored in the MCU ’ s confi guration fl ash. Th eir stor age is perm a- nen[...]

  • Seite 150

    Serial (RS-232) Contr ols and Operation 15 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Thi s paramete rs selects the various open loop an d closed loo p operating modes as w ell as the f e edbac k m ethod. Amps Limit A ddre ss: ^02 Access: R ead/Write Eff ective: Afte r Reset or ^FF Thi s parameter c onfigures the con[...]

  • Seite 151

    AX3500 Motor Controll er User ’ s Manu al 151 Acc essing & Changing Configuration P arameter in Flash Thi s param eter confi gures the ra te at whi c h the c ontroller i nternally c hanges the co mmand va lue from th e one it w as to the one just receiv ed. Input S witc hes Function A ddre ss: ^04 Access: R ead/Write Eff ective: Afte r Reset [...]

  • Seite 152

    Serial (RS-232) Contr ols and Operation 15 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 RC Jo ystic k or Analog Deadband A ddre ss: ^06 Access: R ead/Write Eff ective: Afte r Reset or ^FF Thi s parame ter configur es the amou nt of jo ys tic k or potentiomet er motion ca n take plac e around th e center p osition witho[...]

  • Seite 153

    AX3500 Motor Controll er User ’ s Manu al 153 Acc essing & Changing Configuration P arameter in Flash Thi s param eter config ures the com pensatio n cur ve when mo tors are s pinning in one direc - tion vs . the other . Default Encoder Time Base 1 and 2 A ddre ss: ^0B - Enco der 1 ^0C - Enco der 2 Access: R ead/Write Eff ective: Afte r Reset[...]

  • Seite 154

    Serial (RS-232) Contr ols and Operation 15 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Default PID Gains A ddre ss: ^0F - Pr opor tional G ain ^1 0 - Integr al Gain ^1 1 - Der ivativ e Gain Access: R ead/Write Eff ective: Afte r Reset or ^FF The se param eters are t he Gains v alu es that ar e loaded af ter the contro[...]

  • Seite 155

    AX3500 Motor Controll er User ’ s Manu al 155 Reading & Changing Operating P aram eter s at Runtime Gains v alue s are intege r number from 0 to 63. T his n umber is divided b y 8 inte rnal so that eac h incremen t equals 0.1 25. Reading & Ch anging Operating P arameter s at Runtime It is pos sible to c hange se veral o f the control ler [...]

  • Seite 156

    Serial (RS-232) Contr ols and Operation 15 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt Notice: Do not wr it e in the locations mar ked as Read Only . Doing so m y cau se Contr oller malfunction . Operating Modes Registers A ddre ss: ^80 - Chann el 1 ^81 - Chann el 2 Access: R ead/Write Ef f ectiv e: Instan [...]

  • Seite 157

    AX3500 Motor Controll er User ’ s Manu al 157 Reading & Changing Operating P aram eter s at Runtime A ctu al Gain v alue is the value co ntained in the register divi ded by 8. Changes take ef f ect at the contr oller ’ s nex t 1 6ms ite ration loo p. Af ter res et, these bits get initiali zed ac cording to the confi guration c ontained in F[...]

  • Seite 158

    Serial (RS-232) Contr ols and Operation 15 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Control ler Identification Regist er A ddre ss: ^8A Access: Read Only Ef f ectiv e: Instan tly Thi s registe r may be used to q uer y the Co ntroller ’ s model an d some of its option al hard- ware conf igur atio ns. Current Amps [...]

  • Seite 159

    AX3500 Motor Controll er User ’ s Manu al 159 RS232 Encoder Command S et RS232 Encoder Co mmand Set The Encoder m odule res ponds to a dedicated set of com mands and queries. The serial p ort set ti ng and basi c command fo rmat is identi cal to thi s for all other functions of the co ntroller as de scribed in “ Serial (RS-23 2) Controls and Op[...]

  • Seite 160

    16 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 While res et tin g is a single s tep comma nd, set ti ng the count ers to a no n-zero v alu e requires two step s: 1 - load a 4 b yte buf f e r (32-bit) w ith the desire d va lue. 2- T ransf er the bu f f er ’ s content t o the coun ter(s). L oading the buf f er can be [...]

  • Seite 161

    AX3500 Motor Controll er User ’ s Manu al 161 RS232 Encoder Command S et Read Distance Descrip tion: Thi s query will cause th e controll er to ret urn the d istance between the curre nt position and the v alue in the desti nation reg ister . T he v alues are s igned H exa decimal nu mbers r anging from -1 27 to +1 27 . The -1 27 valu e represen [...]

  • Seite 162

    16 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 R eply: 0 n Where: n = switc h st atus The relation ship betwee n the value of n and the sw itc h stat us is sho wn in the table belo w . Extracti ng the stat us of a giv en sw itc h from this numbe r is easily acc omplish ed in sof t wa re usi ng mask ing . Note tha t th[...]

  • Seite 163

    AX3500 Motor Controll er User ’ s Manu al 163 RS232 Encoder Command S et Exampl e: *84 Read value of parameter a t address he x 84 01 Controller r eplies, v alue i s 0 1 Modify par amet er Syn t a x: * mm n n R eply: + if c ommand w as ex ecut ed succ essfully - if erro r Where mm = p arameter addr ess nn = n ew para meter va lue Exampl es: *84 0[...]

  • Seite 164

    16 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 ailur e inside the encoder mod ule. Regist er Descri ption Encoder Hardw are ID code Address: *84 R eturn s a 4-bi t number i dentifying the enco der module hardw are[...]

  • Seite 165

    AX3500 Motor Controll er User ’ s Manu al 165 Reg ister Descr ipt ion Speed or Distance 1 or 2 A ddre ss: *86 - Channel 1 *87 - Channel 2 The se two reg isters c ontain either the measure d speed o r the meas ured distance . Whether s peed or di stance inf ormati on is ret urned depends on the set tings contained in the Mode register de scribed a[...]

  • Seite 166

    16 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 *96 *97 - Least Signific ant Byte A ddre ss: *98 - Most Significa nt Byte Destin ation 2 *99 *9A *9B - Least Sign ificant Byt e The se two 32 -bit (4-b ytes) re gisters a re used to store the d esired de stination when the controll er is used in positi on mode. T hese reg[...]

  • Seite 167

    AX3500 Motor Controll er User ’ s Manu al 167 Counter Read Data Format RC P ulse Outputs A ctiv ation Address: *A5 to *AF The AX3500 has 8 pulse outp ut for command ing standard R C servos o r addition al control - lers. T he pul se width fo r ev er y c hannel can o nly be c hanged us ing simple RS2 32 com- mands. Re ading an d c ha nging the p u[...]

  • Seite 168

    16 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 ahead of an y number strin g starting with a digit va lue lo w er than 8 (i.e. 0 to 7). T he table belo w sho ws e xamples of this sc heme as a pplied to v arious counter v alues . When rea ding the c ounter v alue into a microc omputer , the re ve rse opera tion must tak[...]

  • Seite 169

    AX3500 Motor Controll er User ’ s Manu al 169 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 lications, it ma y be usef ul to allo w the c ontroller to switc h bac k to the R C mode. T his w ould typica lly allo w a user to t ak e o ver the c ontrol of a robotic ve hicle[...]

  • Seite 170

    17 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Controlle r is on, Rad io is t urned Of f (or R adio On with R C c h 3 Of f) • Rel ay deactiv ates. RS 232 is no w co nnected to shared i nput. • String of Car riage R et urns no w received by controller . • Computer looks f or OK prom pt to detect that the R S232 m[...]

  • Seite 171

    AX3500 Motor Controll er User ’ s Manu al 17 1 Decimal to He xadecimal Con v ersion T able 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 no w be plugged i nto one of t he adapt[...]

  • Seite 172

    17 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 5 0 5 3 72 56 9 4 51 0 1 6 5 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 75 4B 1 07 6B 1 2 0C 44 2C 7 6 4C 1 08 6C 1 3 0D 45 2D 77 4D 1 09 6D 1 4 0E 46 2E 78 4[...]

  • Seite 173

    AX3500 Motor Controll er User ’ s Manu al 17 3 Decimal to He xadecimal Con v ersion T able -1 21 1 35 87 -89 1 67 A7 -57 1 99 C7 -25 231 E7 -1 20 1 36 88 -88 1 68 A8 -56 200 C 8 -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 C A - 22 234 EA -1 1 7 1 39 8B -85 1 71 AB -53 203 CB - 21 235 EB -1 1 6 1 [...]

  • Seite 174

    17 4 AX3500 Moto r Controller User ’ s Man ual V ersio n 1 .9b. Ju ne 1, 2007[...]

  • Seite 175

    AX3500 Motor Controll er User ’ s Manu al 17 5 SECTION 15 Conf iguring the Contr oller using the S witc hes The AX3500 Speed Controller can be pro grammed to ope rate in man y modes using a simpl e set-up proce dure. T wo bu t tons and a 7 -segmen t LED displ ay allo w the us er to e xamine and c hang e these set tings. Alterna tive ly , the cont[...]

  • Seite 176

    Configuring the Controller using the Switc hes 176 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 d up or b y [...]

  • Seite 177

    AX3500 Motor Controll er User ’ s Manu al 17 7 Pr ogramming using built-in S witc hes and Display Importa nt W arning 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-tes[...]

  • Seite 178

    Configuring the Controller using the Switc hes 17 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Restoring factor y defaults Should y ou, for an y rea son, require t o reset the AX3500 controller to its fa ctory defau lt va lue, pres s and hol d the P rogram a nd Set but ton together f or 1 0 secon ds whil e reset ti ng [...]

  • Seite 179

    AX3500 Motor Controll er User ’ s Manu al 17 9 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 181) or t he RS23 2 comm and[...]

  • Seite 180

    Configuring the Controller using the Switc hes 180 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 *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 , 1 2... 1[...]

  • Seite 181

    AX3500 Motor Controll er User ’ s Manu al 181 SECTION 16 Using the Roborun Conf iguration Utility A PC-base d Configurat ion Utility is av ailable, free of c harge, from R obot eq. T his pro- gram makes configuri ng and op erating the AX3500 muc h mo re int uitiv e b y using pull-do wn m enus, but tons an d sliders. T he uti lity can als o be use[...]

  • Seite 182

    Using the Roborun Configuration Utility 182 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 • af ter the installatio n is complete, r un the program from y our Start Menu > Programs > R oboteq The controller do es not nee d to be conne cted to the PC to start the Utility . Connecting the Contr oller to th e PC Th[...]

  • Seite 183

    AX3500 Motor Controll er User ’ s Manu al 183 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 nded[...]

  • Seite 184

    Using the Roborun Configuration Utility 184 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 f eat uring the additiona l Analog Inputs 3 and 4 are auto matically identified as R ev . B in this area of t he screen . 3- P ar ameter Select ion and Setting and Spec ial Functi ons This i s th e prog ram ’ s main frame and in[...]

  • Seite 185

    AX3500 Motor Controll er User ’ s Manu al 185 Loading, Changing Controller P arameter s Loading, Changing Contr oller P arameters The first set of tabs allo ws you to view a nd c han ge the controll er ’ s pa rame ters . These t abs are grou ped accord ing to the general t ype of parameters (Controls , P o wer Se t ting, an d R/C Set tings). Wh[...]

  • Seite 186

    Using the Roborun Configuration Utility 186 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 Thi s pull do wn men u is used to c hoose w hether the con troller will o perate in Separate or Mixed mod e. For more i nformat ion o n thes e mode s, see “ Sel ecting the Motor Control Modes ” on pag e 42. 3- Input Comm and A[...]

  • Seite 187

    AX3500 Motor Controll er User ’ s Manu al 187 Loading, Changing Controller P arameter s 2- Lef t/Rig ht Adjust Thi s slider will let you con figure the controller so that it ap pli es more pow er to the motors in one d irection th an in the other . See “ Lef t / Righ t T uning Adjustme nt ” on pa ge 4 9. 3- A cceler ation Set ting Thi s slide[...]

  • Seite 188

    Using the Roborun Configuration Utility 188 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 The se fields are enabl ed only if the R/C m ode is sel ected. T hese nu mber areas will let y ou read an d modify th e R/C pulse timing in forma tion used by t he controller . Ne w v alues can be entere d manual ly to create dif [...]

  • Seite 189

    AX3500 Motor Controll er User ’ s Manu al 189 Encoder S et ting and T esting With this utili ty , the foll owing a ctions c an be acco mplishe d: • 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[...]

  • Seite 190

    Using the Roborun Configuration Utility 19 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 The Time B ase pa rameter is used to c ompute the speed me asured b y the mod ule. T he measure d speed is a relativ e num ber rangin g from 0 to +/-1 27 . The relations hip betw een this rela tive speed nu mber and th e actu al RPM[...]

  • Seite 191

    AX3500 Motor Controll er User ’ s Manu al 19 1 Running the Motors F rom this screen, mov ing the cu rsor on an y of the 8 sliders will ca use the PC to send R C positio ning com mand to the c ontroller v ia the RS 232 port to its resp ective output. Running the Motor s The Robo run u tility will let y ou e x ercise and monitor the mo tors, sensor[...]

  • Seite 192

    Using the Roborun Configuration Utility 19 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 ton ’ s [...]

  • Seite 193

    AX3500 Motor Controll er User ’ s Manu al 19 3 Running the Motors case the p ow er le vel w ill be the o ne needed to keep the Amps w ithin the l imit. Note that the disp lay value is not si gned and thus does no t prov ide rotation di rection in forma tion. The Ana fields co ntain the analog input v alues that are m easured and reported b y the [...]

  • Seite 194

    Using the Roborun Configuration Utility 19 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 the motors. A[...]

  • Seite 195

    AX3500 Motor Controll er User ’ s Manu al 19 5 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. The He ader name, o rder and pa rameter de finition is s hown i n T able 3 7: Connecting a Jo ystic k Exe rcising the motors can eas ily be do ne using a Jo ys tic k[...]

  • Seite 196

    Using the Roborun Configuration Utility 19 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 A jo ystic k test program nam e “ Joyt e st ” is automatic ally in stalled in t he Start men u when installing the R obor un utili t y . This program may be used to further verify that the jo y stic k is prope rly installed in t[...]

  • Seite 197

    AX3500 Motor Controll er User ’ s Manu al 19 7 Vie wing and Logging Data in Analog and R/C Modes ries. See “ RS2 32 Encode r Command Set ” on page 1 59 for the lis t of Encoder related comman ds and q ueries . 3- Kee p W atc hdog Aliv e If the con troller is in the R S232 mod e with the watc hdog enabled, then af ter 1 second of inactiv ity m[...]

  • Seite 198

    Using the Roborun Configuration Utility 19 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Operating the AX350 0 ov er a Wired or Wir eless LAN The Ro boru n utility supp orts connec tion and o peration o f the AX3500 con troller ov er a Wired or Wireless TC P/IP netw ork. Thi s f eat ure mak es it ea sy to tele-o perate [...]

  • Seite 199

    AX3500 Motor Controll er User ’ s Manu al 19 9 Updating the Controller ’ s Software Note tha t it is no t possible to use this c onfiguratio n to c h ange the con troller ’ s parameters or update the contro ller ’ s so f tware . Updating th e Contr oller ’ s S of tw are The AX35 00 ’ s opera ting sof t w are can b e easily u pgraded a f[...]

  • Seite 200

    Using the Roborun Configuration Utility 20 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Notes: The Updating uti lity will automa tically dete ct whether the ne w sof tware is inten ded fo r the main or encoder ’ s MCU an d program o ne or the o ther acco rdingly . It is a g ood ide a to load the control ler ’ s par[...]

  • Seite 201

    AX3500 Motor Controll er User ’ s Manu al 20 1 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 file w[...]

  • Seite 202

    Using the Roborun Configuration Utility 202 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007[...]

  • Seite 203

    AX3500 Motor Controll er User ’ s Manu al 203 Mec hanical D imensions SECTION 17 Mec hanical Specif ications Th is sect ion details the mec hanical c haracte ristics o f the A X3500 contr oller . Mec h anical Dimensions The AX3500 is del ivered a s an as sembled and tested Prin ted Circuit B oard. The b oard includ es conne ctors f or dire ct con[...]

  • Seite 204

    Mec hanical Speci fications 204 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007 Mounting Co nsideratio ns The AX35 00 ’ s heats ink is loc ated at the bo t tom of the boar d. This requires th erefore that the board be mounte d with sp acers that a re at mini mum 0.6 ” ( 1 5mm). Thermal Considerations The AX3500 is equi[...]

  • Seite 205

    AX3500 Motor Controll er User ’ s Manu al 205 At tac hing the C ontrolle r Directly t o a Chassis boar d against a vertica l surf ace as sho wn in the figu re belo w will ensure a bet ter na tura l con vectio n flo w and is, the refore , recommen ded. F or high current app lications, it is possi ble that the c ontroller ma y hea t up fa ster and [...]

  • Seite 206

    Mec hanical Speci fications 206 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007 Note tha t the bac k of the PCB h as large co pper areas expos ed just u nder the po w er MOS area. It i s critic al that the interposer ei ther is ins ulated (e xample : anodiz ed alumin um) or a layer of th ermal condu cting - but el ectri ca[...]

  • Seite 207

    AX3500 Motor Controll er User ’ s Manu al 207 Wire Dimensions Wire Dimensions The AX3500 uses F ast-on tabs fo r the po wer connecti ons to the bat teries a nd motors. The se connec tors are rated to suppo rt the controll er ’ s maximum specifi ed current. Mating connec tors are wide ly av ailabl e and use crim ping tec hniques to secure the el[...]

  • Seite 208

    Mec hanical Speci fications 208 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007[...]