RoboteQ AX2550 manuel d'utilisation

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

Aller à la page of

Un bon manuel d’utilisation

Les règles imposent au revendeur l'obligation de fournir à l'acheteur, avec des marchandises, le manuel d’utilisation RoboteQ AX2550. Le manque du manuel d’utilisation ou les informations incorrectes fournies au consommateur sont à la base d'une plainte pour non-conformité du dispositif avec le contrat. Conformément à la loi, l’inclusion du manuel d’utilisation sous une forme autre que le papier est autorisée, ce qui est souvent utilisé récemment, en incluant la forme graphique ou électronique du manuel RoboteQ AX2550 ou les vidéos d'instruction pour les utilisateurs. La condition est son caractère lisible et compréhensible.

Qu'est ce que le manuel d’utilisation?

Le mot vient du latin "Instructio", à savoir organiser. Ainsi, le manuel d’utilisation RoboteQ AX2550 décrit les étapes de la procédure. Le but du manuel d’utilisation est d’instruire, de faciliter le démarrage, l'utilisation de l'équipement ou l'exécution des actions spécifiques. Le manuel d’utilisation est une collection d'informations sur l'objet/service, une indice.

Malheureusement, peu d'utilisateurs prennent le temps de lire le manuel d’utilisation, et un bon manuel permet non seulement d’apprendre à connaître un certain nombre de fonctionnalités supplémentaires du dispositif acheté, mais aussi éviter la majorité des défaillances.

Donc, ce qui devrait contenir le manuel parfait?

Tout d'abord, le manuel d’utilisation RoboteQ AX2550 devrait contenir:
- informations sur les caractéristiques techniques du dispositif RoboteQ AX2550
- nom du fabricant et année de fabrication RoboteQ AX2550
- instructions d'utilisation, de réglage et d’entretien de l'équipement RoboteQ AX2550
- signes de sécurité et attestations confirmant la conformité avec les normes pertinentes

Pourquoi nous ne lisons pas les manuels d’utilisation?

Habituellement, cela est dû au manque de temps et de certitude quant à la fonctionnalité spécifique de l'équipement acheté. Malheureusement, la connexion et le démarrage RoboteQ AX2550 ne suffisent pas. Le manuel d’utilisation contient un certain nombre de lignes directrices concernant les fonctionnalités spécifiques, la sécurité, les méthodes d'entretien (même les moyens qui doivent être utilisés), les défauts possibles RoboteQ AX2550 et les moyens de résoudre des problèmes communs lors de l'utilisation. Enfin, le manuel contient les coordonnées du service RoboteQ en l'absence de l'efficacité des solutions proposées. Actuellement, les manuels d’utilisation sous la forme d'animations intéressantes et de vidéos pédagogiques qui sont meilleurs que la brochure, sont très populaires. Ce type de manuel permet à l'utilisateur de voir toute la vidéo d'instruction sans sauter les spécifications et les descriptions techniques compliquées RoboteQ AX2550, comme c’est le cas pour la version papier.

Pourquoi lire le manuel d’utilisation?

Tout d'abord, il contient la réponse sur la structure, les possibilités du dispositif RoboteQ AX2550, l'utilisation de divers accessoires et une gamme d'informations pour profiter pleinement de toutes les fonctionnalités et commodités.

Après un achat réussi de l’équipement/dispositif, prenez un moment pour vous familiariser avec toutes les parties du manuel d'utilisation RoboteQ AX2550. À l'heure actuelle, ils sont soigneusement préparés et traduits pour qu'ils soient non seulement compréhensibles pour les utilisateurs, mais pour qu’ils remplissent leur fonction de base de l'information et d’aide.

Table des matières du manuel d’utilisation

  • Page 1

    AX1 50 0 Dual Chann el Digital Motor Contr oller User ’ s Manual v1 .9b, Jun e 1, 2007 visit www .ro boteq. com to d ownload th e latest revision o f this man ual ©Cop yright 2003-2007 R obote q, Inc.[...]

  • Page 2

    2 AX1 500 Motor Controll er User’ s M anual V ersio n 1 .9b. J une 1, 2007[...]

  • Page 3

    AX1 500 Motor Controller U ser ’ s Manu al 3 Revision History The inf ormation contained in this man ual is beli ev ed to be accura te and reli able. Ho we ver , it ma y contain e rrors that w ere not no ticed at ti me of publ ication. U ser’ s are e xpected to perf orm thei r own pro duct v alidat ion and n ot rely so lely on d ata contained i[...]

  • Page 4

    4 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 5

    AX1 500 Motor Controller U ser ’ s Manual 5 Re vision Hi story 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 ba t terie s 13 A void Sho rts when M ounting Board against Chassis 13 Do no t Con nect t o a R C Ra dio wi th a B at ter y At tac hed 13 Be ware of Motor Runa wa y in Impr operly C [...]

  • Page 6

    6 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 SECTION 5 Genera l Operat ion 39 Ba sic Oper ation 39 Inpu t Com mand Modes 39 Selec ting the Moto r Control Mo des 40 Open Loop, Sepa rate Speed Control 40 Open Loop, Mi xed Speed Cont rol 40 Closed Loop Speed Con trol 41 Close Loop P osi tion Cont rol 41 User Sel ected Cu[...]

  • Page 7

    AX1 500 Motor Controller U ser ’ s Manual 7 Recommended Encode r T ypes 68 Installi ng th e Encod er Modu le 69 Conne cting the Encode r 70 Cable Lengt h and Nois e Consider ations 71 Motor - Enco der P olarity Matc hing 72 V o lt age Le vels, Thresholds and Limit S witches 72 W iring Opti onal Limit Switc hes 73 Wiring Limit Swit c hes Withou t [...]

  • Page 8

    8 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Adjust Offset and M ax Spe ed 96 Contro l Loop Descr iption 96 PID tuning in S peed Mode 97 SECTION 10 Normal and Fault Condit ion LED Mess ages 99 Po w e r O n L E D 99 Diag nostic L ED 99 Normal O peratio n Flashing P at t ern 99 Output O f f / Fault Conditio n 10 0 SECTI[...]

  • Page 9

    AX1 500 Motor Controller U ser ’ s Manual 9 Conne ctor I/O Pi n Assignment (RS 232 Mode) 122 Cable c onfigurat ion 123 Extendi ng the RS232 Ca ble 123 Commu nica tion S et tings 124 Est ablishing Manual C ommunicati on with a P C 124 RS232 Communi cation wi th the Enco der Mod ule 125 Enterin g RS232 from R/ C or Anal og mode 126 Dat a Logging St[...]

  • Page 10

    10 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Contro ller Ident ificat ion Register 144 Current Amp s Limit Register s 14 4 RS232 Encoder Comma nd Set 145 Read Encoder Counter 145 Set/Reset E ncoder Co unters and Destin ation Regis ters 145 Rea d S pe ed 146 Read Di st ance 14 7 Re ad Speed /Distance 147 Re ad Encoder[...]

  • Page 11

    AX1 500 Motor Controller U ser ’ s Manual 11 Logging Dat a to Dis k 17 3 Conne cting a Joystic k 174 Using t he Console 174 Vie wing and Logging Da ta i n Analog and R/C Modes 176 Loading and S aving Profiles to D isk 176 Operati ng the AX 1 50 0 ov er a W ire d or Wi reless LAN 17 6 Upda ti ng the C ontr olle r ’ s Sof tware 178 Upda ting the [...]

  • Page 12

    12 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 13

    AX1 500 Motor Controller U ser ’ s Manual 13 SECTION 1 Impor tant S afety W arnings Read this Section First The AX1500 is a high po wer electr onics device. Ser ious damag e, includi ng fire, may occur t o the uni t, motors, wir ing and bat t er ies as a r esult of its mis use. T ransist ors ma y explode and r equire the use of s af ety gla sses [...]

  • Page 14

    Imp ortant S afety Wa rnings 14 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 15

    AX1 500 Motor Controller U ser ’ s Manual 15 SECTION 2 AX1 50 0 Quic k Star t Thi s sectio n will g ive you t he basic inf ormation needed to quic kly install, s et up and r un you r AX1 500 controller i n a minim al configura tion. What you will need F or a minimal installation , gather the foll owin g compon ents: • One AX1 5 00 Controlle r a[...]

  • Page 16

    AX1 50 0 Qu ic k Start 16 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The front side (s how n in Figure 1) contains the P ow er/St at us LED and the 1 5-pin conn ector to the R/C ra dio, jo ystic k or microcomputer , as w ell as con nections to o ptional swi tc hes and senso rs. At the bac k of the controlle r (sho wn [...]

  • Page 17

    AX1 500 Motor Controller U ser ’ s Manual 17 Connecting to the Bat teries and Moto r s Connecting to the Bat teries and Motors Connecti on to the ba t teries and m otors is sho wn in the figure bel ow a nd is done by c on- necting wires to the c ontroller ’ s terminal strip. 1 - Conn ect eac h motor to one of the two M+ and M- term inal pairs. [...]

  • Page 18

    AX1 50 0 Qu ic k Start 18 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Do not r ely on cuttin g pow er to the contr oller f or it to tur n of f if the P ower Co ntr ol is lef t floating. I f mot ors ar e spi nning because the r obot is pushed ar e pushed or because of inerti a, they will act as gener[...]

  • Page 19

    AX1 500 Motor Controller U ser ’ s Manual 19 Connecting the R/C Radio Connecting t he R/C Radio Connect the R/C adapter cable s to the controll er on one side and to two or thre e c hannels on the R/C r eceiv er on the other side . If present , the third c hannel is f or activ ating the access or y ou tputs a nd is op tion al. When opera ting the[...]

  • Page 20

    AX1 50 0 Qu ic k Start 20 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 P ow ering On the Cont ro ller Impor tant r eminder: T here is no On-Of f switc h on the controlle r . Y ou m ust insert a switc h on the controller ’ s po we r termin al as descr ibed in sectio n “ Connec ting to the Bat teries a nd Motors ” o[...]

  • Page 21

    AX1 500 Motor Controller U ser ’ s Manual 21 Connecting the contr oller to your PC using Roborun Connecti ng the contr oller to y o ur PC us ing Roboru n Connecti ng the con troller to y our PC is not nec essary for ba sic R/C op eration. Ho we ver , it is a v ery simple procedure that is us eful f or the f ollo wing pu rposes: • to R ead and S[...]

  • Page 22

    AX1 50 0 Qu ic k Start 22 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The intuitive G raphica l Use r Inter face will l et you view an d c hange any of the c ontrol ler ’ s paramet ers. The “ Ru n ” ta b w ill pres ent a num ber of bu t tons, dials and c harts that are used f or operating a nd monito ring the mo [...]

  • Page 23

    AX1 500 Motor Controller U ser ’ s Manual 23 SECTION 3 AX1 50 0 Motor Contr oller Ov er vie w Congrat ulations! B y selecting R oboteq ’ s A X1 5 00 you have empowered your self with the industry ’ s most v ersatile , and prog rammable DC Motor Controller f or mobile robots. This manual will gui de y ou step b y step through i ts man y po ssi[...]

  • Page 24

    AX1 50 0 Moto r Con tr olle r Ov er vie w 24 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The motors ar e driv en using high-ef ficienc y P ow er MOSFE T transi stors con trolled us ing Pulse W idt h Modul ation (PWM) at 1 6kHz. The AX1500 power st age s can ope rate f rom 12 to 40VD C and can sustain up to 30 A of cont[...]

  • Page 25

    AX1 500 Motor Controller U ser ’ s Manual 25 T ec hnical features • User defi ned purpos e (R S232 mod e only) • 2 Extra an alog inp uts. Used as: • P otentiomete r input for po sition wh ile in a nalog co mmand mo de • User defi ned purpos e (R S232 mod e only) • One S witc h inpu t configura ble as • Emergenc y stop comman d • R e[...]

  • Page 26

    AX1 50 0 Moto r Con tr olle r Ov er vie w 26 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 • 20A e xtended • High cur rent op eration ma y b e ext ended wit h forc ed cooling • 1 25A peak Amps per c hannel • 1 6kHz Pu lse Width Modul ation (PWM) output • Au xiliary output f or brak e, clutc h or armat ure e xci[...]

  • Page 27

    AX1 500 Motor Controller U ser ’ s Manual 27 P o wer Connections SECTION 4 Connecting P o w er and Motor s to the Contr oller Thi s section des cribes the AX1 50 0 Controller ’ s co nnections to po wer s ources a nd motors. Importa nt W arning Please f ollow the instr uction s in this sectio n very car efully . An y problem due t o wir- ing er [...]

  • Page 28

    Connecting P ower and Motors to the Controller 28 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Co ntro ll er P ower The AX1 50 0 uses a flexible pow er supply sc heme that is best des cribed in Fi gure 8. In this diagram, i t can be s een that th e po wer for the Controller ’ s microcomputer is se parate from this of [...]

  • Page 29

    AX1 500 Motor Controller U ser ’ s Manual 29 Controller P ower When po wered on ly via the P ow er Control input, the con troller w ill t urn On but motors will not be a ble to t urn until po wer is als o present on th e VMot termi nals. The P ower Cont rol in put also ser ves as th e Enab le signa l for the DC/ DC converter . W hen floating or p[...]

  • Page 30

    Connecting P ower and Motors to the Controller 30 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 All 3 grou nd (-) are connecte d to eac h other ins ide the con troller . The tw o main ba t ter y wires a re also con nected to eac h other inte rnally . How e ver , yo u must ne ver assu me that connec ting one w ire of a gi[...]

  • Page 31

    AX1 500 Motor Controller U ser ’ s Manual 31 Controller P owe ring Sc hemes The re is no n eed to inser t a separate switc h on P owe r cables, although f or saf ety reasons, it is highly recommend ed that a w ay of qu ic kly disconnecti ng the Motor P ow er be pro vided in the c ase of loss of c ontrol and a ll of the AX1 50 0 saf et y f eature [...]

  • Page 32

    Connecting P ower and Motors to the Controller 32 AX1 500 Motor Controller U ser ’ 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 4 0V volta ge in all conditions, it is r e com- mend ed th at th e battery u sed to power the c ontroll er ’ s elec tronics be separate from the one us ed to p ow [...]

  • Page 33

    AX1 500 Motor Controller U ser ’ s Manual 33 Single Channel O peration If yo u ar e using this type of mot or , mak e sur e that it is mounte d on isolat ors and that its casi ng will not caus e a shor t cir cuit with other mot ors and cir cuits whic h ma y also be i nadv ert ently connect ed t o the sam e metal ch assis. Single Channel Operation[...]

  • Page 34

    Connecting P ower and Motors to the Controller 34 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 It will be saf e to wire in p arallel the c ontroller ’ s outputs onl y af ter you h av e ve rified that both outp uts react ide ntically to c hannel 1 comm ands. Po we r F u s e s F or low Ampera ge appli cations (be low 30[...]

  • Page 35

    AX1 500 Motor Controller U ser ’ s Manual 35 Electrical Noise Reduc tion T echn iques be ampli fied be yond the con troller ’ s capability to corre ct them. T his is partic ularly the case f or the main bat ter y po we r wires. Importa nt W arning A void us ing long ca ble lengths (be yo nd 2 f eet) from the main po wer b att ery to the contr o[...]

  • Page 36

    Connecting P ower and Motors to the Controller 36 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Please dow nload the Applicati on Note “ Understandi ng Regen eration ” from the www .roboteq .com f or an in-dep th disc ussion of this co mple x but important topic. Importa nt W arning Use the AX1500 only with a r ec ha[...]

  • Page 37

    AX1 500 Motor Controller U ser ’ s Manual 37 Using the Controlle r with a P ow er Supply • Use a p ow er sup ply that wil l not suf f er dama ge in ca se a v olt age i s applie d at its output that is higher tha n the transformer ’ s own output v oltage. T his inf ormation is seldom p ublished in comme rcial po wer su pplies, s o it is n ot a[...]

  • Page 38

    Connecting P ower and Motors to the Controller 38 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 39

    AX1 500 Motor Controller U ser ’ s Manual 39 Basic Operat ion SECTION 5 General Operation Thi s sectio n discusses the co ntroller ’ s normal op eration in all i ts suppor ted operating mode s. Basic Operation The AX 150 0 ’ s oper ation c an be su mmari zed as follows: • Recei ve c ommands from a radio receiv er , joy stic k or a mic rocom[...]

  • Page 40

    General O peration 40 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Selecting the Moto r Control Modes F or eac h motor , the AX1 500 supports mu ltiple mo tion control m odes. T he con troller ’ s fac- tory def ault mode is O pen L oop Speed control f or eac h motor . T he mode can be c hanged usi ng any of the meth o[...]

  • Page 41

    AX1 500 Motor Controller U ser ’ s Manual 41 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this mode, illu strated in Figure 1 6, an anal og tac hometer or a n optical encoder is us ed to measure the act ual moto r speed. If the sp eed c hanges beca use of c hanges in load, the controll er automa tically com pensates the po wer[...]

  • Page 42

    General O peration 42 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 User Selected Current Limit Set tings The AX1 50 0 has cu rrent sen sors at e ac h of its t wo outpu t st ages. Ever y 1 6 m s, this cu rrent is mea sured and a correcti on to the o utput po we r lev el is applied if higher than the us er preset v alue. [...]

  • Page 43

    AX1 500 Motor Controller U ser ’ s Manual 43 Battery Cu rren t vs . Mot or Cur ren t The numb ers i n the tab le ar e the ma x Amp s allowed by the c ontr oller at a gi ven temp era- t ure poin t. If the Amps li mit is ma nually set to a lo wer v alue, then the c ontroller wil l limit the cur rent to t he lo wes t of the man ual and tem perat ure[...]

  • Page 44

    General O peration 44 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The relation between B at ter y Cur rent and Motor cur rent is gi ven in the f ormula b elow: Motor Cu r r ent = Bat tery Cur rent / PWM R atio Example: I f the contro ller reports 1 0A of bat ter y cur rent while at 1 0% PWM, the cur rent in the motor i[...]

  • Page 45

    AX1 500 Motor Controller U ser ’ s Manual 45 Pr ogrammable Accel eration P rogrammable A cceleration When c hanging speed co mmand, th e AX1 500 will go from th e present s peed to th e 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 m ec hanical stre ss during abr upt[...]

  • Page 46

    General O peration 46 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Depending on the load ’ s w eight and ine rtia , a quic k acceler ation can cause consider- able cur r ent sur ge s from the bat te r ies int o the mot or . A quic k deceler ation will ca use an equall y lar ge, or possibly larg er [...]

  • Page 47

    AX1 500 Motor Controller U ser ’ s Manual 47 Lef t / Right T uning Adjustment The AX1500 i s deliver ed wit h the “ linear ” curves selected fo r both jo ystic k c hannels . T o select di f f erent cur ve s, the user wil l need to c hange the v alues of “ E ” (c hann el 1) an d “ F ” (c hannel 2) ac cording to the table belo w . Ref e[...]

  • Page 48

    General O peration 48 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 is f ound on a ll R/C trans mit ters, and w hic h is act ually an of fset cor rection, th e Lef t/Right A djustmen t is a tr ue multiplic ation f actor as sho wn in Fi gure 20 The curves on the lef t sho w ho w a gi ven for w ard directi on comma nd v al[...]

  • Page 49

    AX1 500 Motor Controller U ser ’ s Manual 49 Activ ating Brake Release or Separate Motor Ex cita tion Activ ating Br ak e Releas e or Separate Moto r Ex cit ation The controlle r may b e configu red so tha t the Outpu t C will t urn On whene ver o ne of the two moto rs is r unning. T his f eat ure is typica lly used to activ ate the m ec hanical [...]

  • Page 50

    General O peration 50 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Special Use of Accessory Digital Inputs The AX1 500 includes t w o genera l purpose digital input s identifi ed as Inp ut E and In put F . When an Encoder Mo dule is i nstalled, input E is disa bled. T he location o f these in puts on the DB1 5 co nnecto[...]

  • Page 51

    AX1 500 Motor Controller U ser ’ s Manual 51 AX1 50 0 Connections SECTION 6 Connecting S e nsor s and A ctuator s to Input/Outputs Thi s sectio n descri bes the v arious inputs and ou tputs and prov ides gui dance on how to conne ct senso rs, ac tuators or o ther ac cessor ies to t hem. AX1 50 0 C onnections The AX1 500 uses a set of pow e r wire[...]

  • Page 52

    Connecting S ensor s and A ctuators to Input/Outputs 52 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 AX1 50 0 ’ s Inputs and Ou tputs In addi tion to t he RS2 32 and R/C c hannel commun ication l ines, the AX1 50 0 in cludes s ev- eral inputs and o utputs for v arious sensors and act uators. Depend ing on the selec te[...]

  • Page 53

    AX1 500 Motor Controller U ser ’ s Manual 53 AX1 50 0 ’ s Inputs and Outputs When the controller operates i n modes that do not use the se I/O , these s ignals b ecome av ailable f or use r applicat ion. Belo w is a summary of the av ailable sign als an d the mode s in whic h the y are used b y the controller or av ailable to the use r . T ABLE[...]

  • Page 54

    Connecting S ensor s and A ctuators to Input/Outputs 54 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 I/O List an d Pin Assi gnment The figure and table b elow lists all the i nputs and o utputs that a re av ailable on the AX1 500. T ABLE 8. DB15 conne ctor pin assignmen t Pin Numbe r Input or Output Signal depending on [...]

  • Page 55

    AX1 500 Motor Controller U ser ’ s Manual 55 Connecting devic es to Output C **T hese con nections should only be d one in R S232 mo de or R/C m ode with rad io po w- ered from the con troller . Connecti ng devi ces to Output C Output C is a buf f ered, Open Drain MOSFE T output capable of drivin g ov er 2A at up to 24V . The diagrams o n Figure [...]

  • Page 56

    Connecting S ensor s and A ctuators to Input/Outputs 56 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt w arning: Ov ervoltag e spik es induce d by s witch ing inductiv e loads, s uch a s solenoid s or r ela ys, will destr oy the tr ansis tor unles s a pr ot ection diode is used. Connecting S witc hes or Devices[...]

  • Page 57

    AX1 500 Motor Controller U ser ’ s Manual 57 Connecting S witc hes or De vices to EStop/In vert Input The status of Input F ca n be read in the RS 232 mode with the ?i comma nd string. The co n- troller w ill resp ond with three sets o f 2 dig it numbers . Th e status of In put F is contained in the second set o f num bers and may be 0 0 to indi [...]

  • Page 58

    Connecting S ensor s and A ctuators to Input/Outputs 58 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The stat us of the ES top/In v can be read at all times in the R S232 mod e with the ?i com- mand s tring. The con troller wil l respond w ith three se ts of 2 dig it numbers. The s tatus of the ES/In v Input is containe[...]

  • Page 59

    AX1 500 Motor Controller U ser ’ s Manual 59 Connecting T ac hometer to Analog Inputs Connecti ng the pote ntiomet er to the co ntroller is as simple as sho wn in the diagr am on Figur e 28. The potentiom eter must be at tac hed to the motor fra me so th at its body does no t mov e in relation ship wit h the motor . The potentiom eter axle must b[...]

  • Page 60

    Connecting S ensor s and A ctuators to Input/Outputs 60 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Since th e controll er only acc epts a 0 to 5V positiv e voltage as its i nput, the ci rcuit sho wn in Figure 29 mus t be used between the controlle r and the tac home ter: a 1 0kOhm poten tiom- eter i s used to sc ale t[...]

  • Page 61

    AX1 500 Motor Controller U ser ’ s Manual 61 Connecting External Thermistor to Analog Inputs Connecti ng External Thermi stor to An alog Input s Using e xternal thermist ors, the AX1 50 0 can be made to su pervise the motor ’ s tempera- t ure and adjust the pow er ou tput in case of ov erheating. Connectin g thermisto rs is done accord ing to t[...]

  • Page 62

    Connecting S ensor s and A ctuators to Input/Outputs 62 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 T o read the tem pera ture, us e the ?p command to ha ve t he controller return the A/D con- ve rter ’ s value. T he value is a si gned 8-bi t hex adecima l valu e. Use th e c hart data to con ve rt the ra w reading in[...]

  • Page 63

    AX1 500 Motor Controller U ser ’ s Manual 63 Connecting User De vices to Analog Inputs Meas ur ed volts = ((contr oller r e ading + 128) * 0 .255) -5 Note: The A/D con ver ter ’ s reading is retu rned b y the ?p comma nd and is a signe d 8-bit hex adecim al v alue. Y ou mu st add 1 28 to bring its ra nge from -1 27/+1 27 to 0/255. Connecting Us[...]

  • Page 64

    Connecting S ensor s and A ctuators to Input/Outputs 64 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The se sensors are used to automatic ally reduce the maximum Amps that the controlle r can de live r as it o verheats. H ow e ve r , the temp erat ure can b e read usi ng the R S232 port using th e ?m quer y , or during [...]

  • Page 65

    AX1 500 Motor Controller U ser ’ s Manual 65 Internal Heats ink T emperature S ensors 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; } }[...]

  • Page 66

    Connecting S ensor s and A ctuators to Input/Outputs 66 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 67

    AX1 500 Motor Controller U ser ’ s Manual 67 Optical Increm ental Encoders Overview SECTION 7 Installing, Connecting and Using the Encoder Module Thi s sectio n descri bes the En coder input mo dule t hat ma y be added to the AX1 500. Optical Incremental Encoder s Overview Optic al incre ment al enc oder s are a mea ns for capturin g speed and tr[...]

  • Page 68

    Installing, Connecting and Using the E ncoder Mod- 68 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The figure bel ow s how s the typical co nstr uction of a quadra ture e ncoder . As the disk rotates in front o f the stationary mask, it shut ters light from the LED . The lig ht that passe s through the mask is recei ved[...]

  • Page 69

    AX1 500 Motor Controller U ser ’ s Manual 69 Installing the Encoder Module Specifi cally , the encod er module can proc ess 250, 00 0 coun ts per sec onds. A s discu ssed in the pre vious secti on, a cou nt is generate d for e ac h transition o n the Channel A and Channel B . The refore the module will w ork with encod ers output ting up to 62,50[...]

  • Page 70

    Installing, Connecting and Using the E ncoder Mod- 70 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 2- Car efully insert the encod er module on top of the two hea ders present o n the contro l- ler ’ s main board and sho wn in Fi gure 38. B ew are that the tw o mat ting con nectors are p re- cisel y aligne d. 3- T he e[...]

  • Page 71

    AX1 500 Motor Controller U ser ’ s Manual 71 Cable Length and Noise Considerations Cable Length and Noise Considerations Cable shou ld not ex ceed one 3 ’ (one meter) to a v oid electric al noise to be capt ured by th e wiring. A f errite co re filter mus t be used f or le ngth be yo nd 2 ’ (60 cm). F or lo nger cable length u se an os cillos[...]

  • Page 72

    Installing, Connecting and Using the E ncoder Mod- 72 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Exc essive cable le ngth will caus e electr ical noise t o be captu r ed by the contr oller and cause e r ratic fun ctioning that ma y lead to f ailur e. In such situat ion, st op oper ation immed iatel[...]

  • Page 73

    AX1 500 Motor Controller U ser ’ s Manual 73 Wiring Optional Limit S witc hes In Figure 42, the encoder and swit c hes are w ired to the enco der module using a se t of resis tors desig ned to create a mult i-level sig nal com bini ng bot h piec es of i nformati on. Details on the ne cessary wiring i s pro vided in the ne xt secti on. Since th e [...]

  • Page 74

    Installing, Connecting and Using the E ncoder Mod- 74 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Using thi s circuit w hen the sw itc h is open, a 0V (low -le vel ) output from the encod er goes through a 1k an d 4.7k v olt age di vider , thus crea ting a v oltage that will ne ver be belo w 0.8V at the en coder mod ul[...]

  • Page 75

    AX1 500 Motor Controller U ser ’ s Manual 75 Wiring Limit S witc hes Without Encoders Wiring Li mit Switc hes Wi thout En coder s If no enc oder is u sed, the En coder Mod ule ’ s input s can be used t o wire limit switches dire ctly wit h sole ly a pul l-up re sistor as shown in t he diag ram bel ow . Ef f ect of Limit Switc hes Eac h pair of [...]

  • Page 76

    Installing, Connecting and Using the E ncoder Mod- 76 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 In Singl e Channel Mode, limit sw itc hes 3 and 4 are use d. Th is is to a llow direct c onnection of an e nco der on t he inp uts for c han nel 1 an d dir ect co nnect ion of swit c h es on t he inp uts f or c hannel 2 Us[...]

  • Page 77

    AX1 500 Motor Controller U ser ’ s Manual 77 Using the Encoder to T rac k P osition A simpl e procedu re is in cluded i n the R obor un PC utili t y to easily determine and se t these paramet ers. F or informat ion, the e xact f ormula is sho wn belo w: M eas ur ed Sp ee d V alu e = RP M * P PR * 4 * ( Ti me Ba se +1 ) * 25 6 / (6 0 * 1 000000) o[...]

  • Page 78

    Installing, Connecting and Using the E ncoder Mod- 78 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Th e a ctu al fo r mu la is a s fo l low s : Dis tance = (Des tination - Count er value) / Divider Where: di vider is a configu rable parame ter of v alue 1, 2, 4, 8, 1 6, 32, 64 or 1 27 If compu ted distance i s less tha [...]

  • Page 79

    AX1 500 Motor Controller U ser ’ s Manual 79 Encoder T esting and Set ting Using the PC Utility Encoder T esting and S et tin g Using t he PC Utility Extensi ve di agnostic , calibrati on, set ting and testin g support is pro vided in the R obor un PC utili t y . Basi c inst ruc tions on ho w to install a nd r un the PC utili ty can be f ound in [...]

  • Page 80

    Installing, Connecting and Using the E ncoder Mod- 80 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 81

    AX1 500 Motor Controller U ser ’ s Manual 81 Mode Description SECTION 8 Closed Loop P osition Mode Thi s section des cribes the AX1 500 P o siti on mode, ho w to wire the moto r and position sen- sor assem bly and how to tu ne and op erate the contro ller in th is mode. Mode Desc ription In this mode, the axle o f a geare d-dow n motor i s coupl [...]

  • Page 82

    Closed Loop P osition Mode 82 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 P osition S ensor S election The AX1 500 may b e used w ith the f ollo wing ki nd of sen sors: • P otentiometers • Hall ef f ect a ngular se nsors • Optical Encoders (w ith Encode r Module) The first two a re used to generate an an alog vo [...]

  • Page 83

    AX1 500 Motor Controller U ser ’ s Manual 83 Feedba c k Potentiometer wiring The m ec hanical coupling between the motor an d the sen sor must b e as tigh t as poss ible. If the gear bo x is loose, th e position ing will not be accu rate and w ill be unstable , potential ly causing the motor to os cillate. Some sens or , suc h as potent iometers,[...]

  • Page 84

    Closed Loop P osition Mode 84 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Feedbac k P otentiometer wiring in Analog Mode When the c ontroller is config ured in Ana log mode , the anal og inputs 1 and 2 are used f o r comman ds whil e the analog inputs 3 and 4 are used f or f eedbac k. Analog in puts 3 an d 4 have dif f[...]

  • Page 85

    AX1 500 Motor Controller U ser ’ s Manual 85 Analog F eedbac k on Single Channel Controllers Analog F eedbac k on Single Channel Contr ollers On Sing le Channe l controllers (SC V ersion - not to be confus ed with Dua l Channe l control- lers o f which only on e c h annel is used for posit ion co ntrol - See “ Single Cha nnel Oper a- tion ” o[...]

  • Page 86

    Closed Loop P osition Mode 86 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s wiring is also the one to use when the contro ller is in Ana log mode but switc hed to R S232 af ter reset us ing the me thod disc ussed i n “ Entering RS232 from R/C or Ana log mode ” on page 1 26 Using Optical En coder s in P osi tion[...]

  • Page 87

    AX1 500 Motor Controller U ser ’ s Manual 87 Encoder Err or Detection and Pr otection 10 . If the motor t urns in th e direction a wa y from the sen sor , then the polari t y is rev ersed. T he wire pol arity on the mot ors shoul d be e xc han ged. If using a potent i- ometer as sensor , the GND and +5V wires on the potentiometer may be swapped i[...]

  • Page 88

    Closed Loop P osition Mode 88 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 The diode pola rity depends on the pa rticular wi ring and moto r orientation used in the appl i- cation. If the diod e is mounted bac kwards , the moto r will not stop once the limit sw itc h lev er is pressed . If this is the case, r ev erse th[...]

  • Page 89

    AX1 500 Motor Controller U ser ’ s Manual 89 Using Current Limiting as Pr otection Importa nt W arning Limit switc hes must be use d when oper ating the controll er in P osition Mode. Thi s will sign ificantly r educe the r isk of mec hanical damag e and/or injury in c ase of dam- age to the position s ensor or sensor wir ing. Using Cur rent Limi[...]

  • Page 90

    Closed Loop P osition Mode 90 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 A higher P roportional Gain will cause t he algorit hm to appl y a higher l ev el of po wer f or a giv en measur ed error , thus making the motor mo ve qui c ke r . B ecause of inertia , how ever , a f aster mo ving motor wi ll hav e more dif fic[...]

  • Page 91

    AX1 500 Motor Controller U ser ’ s Manual 91 PID tuning in P osition Mode The Rob orun PC utility mak es this e x peri mentation easy by pro viding one scre en for c han g- ing t he Pro portional, Integral and Dif fe rential ga ins and another scre en fo r r unning a nd monitori ng the moto rs. When t uning the motor , first start with the Integ [...]

  • Page 92

    Closed Loop P osition Mode 92 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 93

    AX1 500 Motor Controller U ser ’ s Manual 93 Mode Description SECTION 9 Closed Loop Speed Mode This s ection disc usses the AX1500 C lose Loop S peed mode . Mode Desc ription In this mode, an analog or digital sp eed sens or meas ures the a ctu al motor speed a nd com- pares i t to the desi red sp eed. If the spe ed c hanges b ecause of c han ges[...]

  • Page 94

    Closed Loop Speed Mode 94 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 Detailed i nforma tion on ho w to install and w ire optical encoders is pro vided at “ Inst al ling , Connecti ng and U sing the Enc oder Modul e ” on pa ge 67. If using optical encoders , omit the An alog T ac homete r discus sion in th is secti[...]

  • Page 95

    AX1 500 Motor Controller U ser ’ s Manual 95 Speed Sens or and Motor P olarity Speed S ensor and Mot or P olarity The tac hometer o r enco der polari t y (i .e. whic h rotation dire ction prod uces a pos itive of negativ e speed inf ormation ) is related to the motor ’ s ro t ation sp eed a nd the d irect ion t he motor t urns when po we r is a[...]

  • Page 96

    Closed Loop Speed Mode 96 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 A djust Offset and Max Speed F or proper opera tion, the c ontroller mu st see a 0 analog s peed v alue (2 .5V v oltage on the analog input). T o adjust th e 0 v alue when th e motors ar e stopped , use the Robor un utility to vie w the analog in put[...]

  • Page 97

    AX1 500 Motor Controller U ser ’ s Manual 97 PID tuning in Speed Mode The Dif fere ntial com ponent of the a lgorithm c omputes the c hanges to the er ror from one 1 6 ms time peri od to the ne xt. Thi s c hange will be a relativ ely la rge number ev er y time an abr upt c hange o ccurs on the desi red speed v alue or the me asured spee d va lue.[...]

  • Page 98

    Closed Loop Speed Mode 98 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 In Speed Mo de, the Integra l compone nt of the PID is the most important and mus t be set first. T he P roportio nal and Dif feren tial compone nt will hel p impro ve th e respons e time and loop stability . In the ca se where the load mo ved b y th[...]

  • Page 99

    AX1 500 Motor Controller U ser ’ s Manual 99 Pow e r O n L E D SECTION 10 Normal and F ault Condition LED Messages Thi s sectio n discus ses the meaning of the v arious message s and code s that m ay be dis- pla yed on the LED d ispla y during normal operation and f ault cond itions. P ow er On LED The AX1 500 feat ures an LED th at comes on when[...]

  • Page 100

    Normal and F ault Condition LED Messages 10 0 AX1 50 0 Motor Contr oller User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Output Of f / F ault Conditio n The contr oller LE D will tun On so lid to si gnal th at the ou tput st age i s of f as a r esult of a any of the recov erable conditio ns listed be lo w . • Over temp erature • Over V o ltag e[...]

  • Page 101

    AX1 500 Motor Controller U ser ’ s Manual 101 Mode Description SECTION 1 1 R/C Operation Thi s section describes the c ontroller ’ s wiring and functio ns specific to the R/C radio control mode. Mode Des cription The AX1 500 can be directl y connected to an R/C rec eiver . In this m ode, the spee d or po si- tion inf ormation is co ntained in p[...]

  • Page 102

    R/C Oper ati on 10 2 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 S electing the R/C Input Mode The R/C Input Mo de is the f actor y def ault set ting. If the con troller ha s been pre viously set to a dif fer ent Inpu t Mode, it w ill be nece ssary to reset it to the R/C mode us ing the s erial port and the PC util it[...]

  • Page 103

    AX1 500 Motor Controller U ser ’ s Manual 10 3 R/C Input Circuit Description R/C Inpu t Circuit Description The AX1 500 R/C inputs are di rectly co nnected to the MCU logi c. Figure 63 sho ws an elec- trical repre sentation of the R/C i nput circuit. Supplie d Cable Descrip tion The AX1500 is de livere d with a cu stom c able wi th the following [...]

  • Page 104

    R/C Oper ati on 10 4 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 . P ow ering the Radio fro m the controller The 5V po w er and gro und signal s that are av ailable on the controlle r ’ s conne ctor ma y be used to pow er the R/C radio. T he wire loop is used to b ring the c ontroller ’ s pow er to the the radio a[...]

  • Page 105

    AX1 500 Motor Controller U ser ’ s Manual 10 5 P o wering the Radio fr om the contr oller Importa nt W arning Do not conne ct a bat t ery to the rad io when in thi s mode. The bat tery v oltag e will flow dir ectly int o the contr oller and cause per mane nt damag e if i ts v oltag e is h igher than 5. 5V . This mode of op erati on is t he mos t [...]

  • Page 106

    R/C Oper ati on 10 6 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Connecting t o a Separat ely P o we red Radio Thi s wiring option must be used w hen the contro ller is u sed with a R C receiv er that is pow ered b y its o wn separa te bat tery . The red wire in t he loop mu st be cut so that the 5V out from th e cont[...]

  • Page 107

    AX1 500 Motor Controller U ser ’ s Manual 10 7 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 ystic k is i n the cente r positio n, the pulse s hould be 1 .5ms. Note that the real pulse -length to joy stic k-position numbe rs that are gene rated [...]

  • Page 108

    R/C Oper ati on 10 8 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Simila rly , if the pulse tra in is lost w hile the motors w ere enabled, the controller will wait a short pre set amoun t of time be fore i t disable s the moto rs. If the pu lses rea ppear duri ng that time , the contro ller conti nues wit hout an y br[...]

  • Page 109

    AX1 500 Motor Controller U ser ’ s Manual 10 9 Command Control Curves The deadban d is mea sured as a percen t age of total normal joy stic k tra ve l. F or example , a 1 6% deadban d means tha t the first 1 6% of jo ystic k motion in either dire ction wi ll ha ve no ef fec t on the mo tors. Note tha t the dead band onl y af f ects the start posi[...]

  • Page 110

    R/C Oper ati on 11 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Lef t/Right T uning A d justment When ope rating in m ixe d mode wi th one moto r on eac h side of the robot, it ma y happen that one motor is s pinning f aster than the o ther one at identic ally appl ied po we r , caus ing the v ehicle to pull to the le[...]

  • Page 111

    AX1 500 Motor Controller U ser ’ s Manual 111 Data Logging in R/C Mode Output C is a buf f ered output capable of drivin g a 2A devi ce at up to 24V . Details on ho w to wire thi s output to us er access ories can b e foun d at “ Conn ecting Se nsors an d A ctu ators to Input /Outputs ” on page 51. The output is activa ted b y pushing th e jo[...]

  • Page 112

    R/C Oper ati on 11 2 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 T o read the outpu t string wh ile opera ting the c ontroller w ith the R/C radio , yo u must mod - ify the R/C cable to add an R S232 out put wire and co nnector that w ill be conne cted to the PC ’ s commu nication port. Figure 7 4 and belo w show s [...]

  • Page 113

    AX1 500 Motor Controller U ser ’ s Manual 11 3 Mode Description SECTION 12 Analog Control and Operation Thi s sectio n descri bes ho w the mo tors ma y be op erated us ing anal og v oltage comma nds. Mode Desc ription The AX1 500 can be co nfigured to use a 0 to 5V analo g vo ltage, typically produced us ing a potentiom eter , to control eac h of[...]

  • Page 114

    Analog Control and O peration 11 4 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Connector I/O Pin Assi gnment (Anal og Mode) 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 table belo w T ABLE 1 8. DB15 Connec tor pin assi gnment in Anal og mode Pin Nu[...]

  • Page 115

    AX1 500 Motor Controller U ser ’ s Manual 11 5 Connecting to a V oltage S ource Connecting to a V oltage Source The analog inputs e xpect a DC v olt age o f 0 to 5V w hic h can be so urced b y an y cust om cir- cuitr y (po tent iomete r , Di git al to Analog converter ). The controlle r consid ers 2.5V to be the z ero positi on (Mot or Of f). 0V [...]

  • Page 116

    Analog Control and O peration 11 6 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 The controlle r incl udes two 47K ohm re sistors p ulling the input to a mid-v oltage point of 2.5V . Whe n configur ed in the Anal og Input mo de, this wil l cause the motors to b e at the Of f state if the con troller is po wered with not[...]

  • Page 117

    AX1 500 Motor Controller U ser ’ s Manual 11 7 Analog Deadband A djustment Analog D eadband A djustment The controlle r may b e configu red so that some amoun t of potentio meter or jo ystic k trav el of f its center position is requi red befo re the motors activ ate. The dead band parameter can be one o f 8 v alues, ra nging from 0 to 7 , whic h[...]

  • Page 118

    Analog Control and O peration 11 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1 , 2007 Importa nt Notice Some analo g jo ystic ks do not c ause the pot entiomete r to reac h either extr eme. This may cau se the a nalo g volta ge r an ge to be above 0V an d bel ow 5V when the s tick is mov ed to the extr eme, and ther efor e t[...]

  • Page 119

    AX1 500 Motor Controller U ser ’ s Manual 11 9 Data Logging in Analog Mode Data in Analog a nd R/C Modes ” o n page 1 7 6). It ma y also b e stored in a PD A that can be placed in the mo bile robot. The string a nd data fo rmat is de scribed in “ Analog and R/ C Mod es Dat a Logg ing St ring For- mat ” on page 1 56. Th e serial port ’ s o[...]

  • Page 120

    Analog Control and O peration 12 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 121

    AX1 500 Motor Controller U ser ’ s Manual 12 1 Use and benefits of RS232 SECTION 13 Serial (RS-232) Contr ols and Operation Thi s sectio n descri bes the co mmunica tion set tings and the c ommands accepted b y the AX1 500 in the R S232 mode of operati ons. T his inf ormation is useful if y ou plan to write yo ur ow n controll ing sof tware on a [...]

  • Page 122

    Serial (RS-232) Contr ols and Operation 12 2 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Connector I/O Pin Assi gnment (RS232 Mode) When use d in the R S232 mode, the pins on the control ler ’ s DB1 5 connec tor are ma pped as des cribed in the table belo w T ABLE 20. DB15 Connector pin assignmen t in RS232 mod e Pin[...]

  • Page 123

    AX1 500 Motor Controller U ser ’ s Manual 12 3 Cable configuration Cabl e conf ig uration The R S232 con nection re quires the s pecial cabling as descri bed in the figure be low . T he 9- pin f emale co nnector pl ugs into th e PC (or othe r microco ntroller). T he 1 5-pin male co nnec- tor plugs into the AX 1 5 00. It is cri tical tha t you do [...]

  • Page 124

    Serial (RS-232) Contr ols and Operation 12 4 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Commu nicat ion Set tings The AX1500 ser ial co mmuni catio n port i s set as follows: 960 0 bits/s, 7 -bit data, 1 Star t bit, 1 St op bit, Ev en P ar ity Communi cation is done wi thout flo w contro l, meani ng that the controlle[...]

  • Page 125

    AX1 500 Motor Controller U ser ’ s Manual 12 5 Establishing Manual Communica tion with a PC COM1port. Y ou can easily c hange this set ting to a dif f erent port from the program ’ s menu s. Note that s tarting with v ersion 1 .9, the Ro boru n PC utility al so includes a T erminal Emula- tion Cons ole f or commun icating with the c ontroller u[...]

  • Page 126

    Serial (RS-232) Contr ols and Operation 12 6 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Af ter this inf ormatio n is sent, the Encoder ’ s MCU wi ll “ liste n ” for ap proxima tely 1 0 0ms and will enter the In Sy stem Programm ing mode (ISP) if the let ter “ Z ” is s e nt to it . W h il e i n the ISP mo de,[...]

  • Page 127

    AX1 500 Motor Controller U ser ’ s Manual 12 7 Commands A c know ledge and Error Mess ages RS232 Mode if default If the con troller is configure d in R S232 mo de, it will a utomatic ally be in t he R S232 mod e upon res et or po we r up. In this case, th e “ OK ” message is sent autom atically , indicating that the controller is read y to ac[...]

  • Page 128

    Serial (RS-232) Contr ols and Operation 12 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 RS-232 W atc hdog F or applications demand ing the hig hest operatin g saf et y , the contro ller may be confi gured to autom atically stop the moto rs (but otherw ise remain fully a ctiv e) if it f ails to receive a c haracter on [...]

  • Page 129

    AX1 500 Motor Controller U ser ’ s Manual 12 9 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 forward or re vers e direction f or a given c hannel. In mixed mode, c hanne l 1 val ue sets th e common forward and rev erse v alue for both moto rs, while c hannel 2 sets [...]

  • Page 130

    Serial (RS-232) Contr ols and Operation 13 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Query P o wer Appli ed to Motor s Descrip tion: Thi s query will cause the co ntroller to re turn the act ual amou nt of po wer tha t is bein g applie d to the motors at that tim e. The num ber is a he xadeci mal number rangi ng fr[...]

  • Page 131

    AX1 500 Motor Controller U ser ’ s Manual 13 1 Controller Commands and Q ueries Query Analog Inputs Descrip tion: Thi s query will cause the controlle r to ret urn the values of the si gnals pre sent at its tw o analog inputs. I f the co ntroller is used in close-lo op speed mode wi th analog f eedbac k, the va lues repre sent the a ctu al speed [...]

  • Page 132

    Serial (RS-232) Contr ols and Operation 13 2 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 ages: the fir st is th e Main Batter y volt age pr esent at the thi c k red and b lack wires. The se c- ond is the interna l 1 2V s upply neede d f or the contr oller ’ s mic rocomputer and MOSFE T driv ers. T he v alues are unsi[...]

  • Page 133

    AX1 500 Motor Controller U ser ’ s Manual 13 3 Acc essing & Changing Configuration P arameter in Flash R eply: None. Controller w ill reset and disp lay pro mpt messa ge A ccessing & Changing Conf iguration P arameter in Flash It is po ssible t o use R S232 comman ds to e xamin e and c hange th e controll er ’ s parameters stored i n Fl[...]

  • Page 134

    Serial (RS-232) Contr ols and Operation 13 4 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Syn t a x: ^FF R eply: + Succ ess, c hanged parameters are no w active - if erro r T abl e 22 be low lists t he compl ete set of conf igurat ion pa rameter s that m ay be access ed and c hanged using R S232 commands. Flash Configur[...]

  • Page 135

    AX1 500 Motor Controller U ser ’ s Manual 13 5 Acc essing & Changing Configuration P arameter in Flash The se param eters are st ored in th e controller ’ s Flash memor y and a re not intended to be c hanged a t runt ime. Importa nt Notice The abo ve p arameters are st ored in the MCU ’ s configura tion flas h. Th eir stor age is p erma- [...]

  • Page 136

    Serial (RS-232) Contr ols and Operation 13 6 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s paramete rs selects the vari ous open loo p and close d loop operati ng modes as well as the f eedbac k method. Amps Limit A ddre ss: ^02 Access: R ead/Write Eff ective: Aft er Reset or ^FF Thi s parameter c onfigures the con[...]

  • Page 137

    AX1 500 Motor Controller U ser ’ s Manual 13 7 Acc essing & Changing Configuration P arameter in Flash A cceleration A ddre ss: ^03 Access: R ead/Write Eff ective: Aft er Reset or ^FF Thi s param eter confi gures the rate at whi c h the controll er internal ly c hanges t he comma nd va lue from th e one it w as to the one ju st receiv ed. Inp[...]

  • Page 138

    Serial (RS-232) Contr ols and Operation 13 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 RC Jo ystic k or Analog Deadband A ddre ss: ^06 Access: R ead/Write Eff ective: Aft er Reset or ^FF Thi s parame ter configu res the am ount of jo ystic k or potenti ometer moti on can take place around th e center p osition with o[...]

  • Page 139

    AX1 500 Motor Controller U ser ’ s Manual 13 9 Acc essing & Changing Configuration P arameter in Flash Thi s parameter c onfigures the transf er cur ve that is a pplied the input comma nd. Lef t/Right Adjust A ddre ss: ^0B Access: R ead/Write Eff ective: Aft er Reset or ^FF Thi s param eter config ures the c ompensatio n curve when motors ar [...]

  • Page 140

    Serial (RS-232) Contr ols and Operation 14 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Default Encoder Distance Divider A ddre ss: ^0E Access: R ead/Write Eff ective: Aft er Reset or ^FF Thi s parameters is the Encoder ’ s Distance Divider that is loa ded af ter the controller is reset or po wer ed on. T he En code[...]

  • Page 141

    AX1 500 Motor Controller U ser ’ s Manual 14 1 Reading & Changing Operating P arameters at Runtime ^1C - J oystic k Max 2 MS ^1D - J oy stick Max 2 LS Ef f ectiv e: Instan tly The se param eters are t he Gain s valu es that a re load ed af ter the co ntroller is reset or po w- ered o n. The se Gains a pply to both c hannels. Gai ns can be c h[...]

  • Page 142

    Serial (RS-232) Contr ols and Operation 14 2 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt Notice: Do not wr ite i n the locations ma r k ed as Read Only . Doing so m y cause 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: Insta[...]

  • Page 143

    AX1 500 Motor Controller U ser ’ s Manual 14 3 Reading & Changing Operating P arameters at Runtime ^86 - I2 ^87 - D2 Access: R ead/Write Ef f ectiv e: Instan tly The Pro portional, Integral and Deri vati ve ga in for eac h cha nnel can be read and c hanged on- the-fly . This function al so pro vides a mean fo r set ting di f f erent PID valu [...]

  • Page 144

    Serial (RS-232) Contr ols and Operation 14 4 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 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[...]

  • Page 145

    AX1 500 Motor Controller U ser ’ s Manual 14 5 RS232 Encoder Command S et RS232 Encoder Co mmand Set When pres ent, the En coder mod ule respon ds to a d edicated set of comma nds and que- ries. The serial p ort set ting and ba sic com mand f ormat is identical to this f or all o ther functio ns of the co ntroller as described in “ Serial (R S-[...]

  • Page 146

    14 6 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 While res et ting is a sing le step com mand, set ting th e counters to a non-z ero value req uires two step s: 1 - load a 4 byte bu f fe 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 don[...]

  • Page 147

    AX1 500 Motor Controller U ser ’ s Manual 14 7 RS232 Encoder Command S et Read Distance Descrip tion: Thi s query will caus e the controll er to ret urn the distance betwe en the cur rent posi tion and the v alue in the desti nation register . The val ues are s igned H exa decimal numbers r anging from -1 27 to + 1 27 . Th e -1 27 va lue represen[...]

  • Page 148

    14 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 R eply: 0 n Where: n = switc h st atus The relation ship betwee n the valu e of n and the switc h status is sho wn in the t able belo w . Extracti ng the stat us of a g iven switc h from this num ber is easil y accompli shed in so f t wa re usi ng mask ing . Note tha t t[...]

  • Page 149

    AX1 500 Motor Controller U ser ’ s Manual 14 9 RS232 Encoder Command S et Exampl e: *84 Read value of parame ter at address hex 84 01 Controller r eplies, v alue is 0 1 Modify par ameter Syn t a x: * mm n n R eply: + if c omman d wa s ex ecuted su ccessfu lly - if erro r Where mm = p arameter addr ess nn = n ew para meter va lue Exampl es: *84 03[...]

  • Page 150

    15 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Do not alt e r an y other ar ea locations, as this m ay c ause pr ogram exe cution f a ilur 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 identify ing the en coder mod ule hardw a[...]

  • Page 151

    AX1 500 Motor Controller U ser ’ s Manual 15 1 Reg ister Descr ipt ion The se two reg isters c ontain eithe r the meas ured spee d or the me asured di stance. Whether s peed or distance inf ormation is ret urned depend s on t he set tings contained in the Mode register described at. T his inf ormat ion is ret urned using th e ?p query (see “ Qu[...]

  • Page 152

    15 2 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 *9A *9B - Least Sign ificant Byt e The se two 32 -bit (4- bytes ) register s are use d to store th e desired destinat ion when the controll er is used in positi on mode. T hese regist ers shoul d alwa ys be set using the mailb ox mec hanism describ ed abo ve . See “ Us[...]

  • Page 153

    AX1 500 Motor Controller U ser ’ s Manual 15 3 Counter Read Data Format Counter Read Data Format When r eceiving a counte r read query , the encod er module will outpu t the v alue of i ts 32-bit counter . If all 3 2-bit are s ent, this w ould re quire 8 A SCII digits to repres ent the v alue. A 32-bit c ounter ca n store o ver 2 billion counts i[...]

  • Page 154

    15 4 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 155

    AX1 500 Motor Controller U ser ’ s Manual 15 5 Automatic S w itc hing from RS232 to RC Mode Automatic Switc hing from RS23 2 to RC Mod e In man y computer contr olled app lication s, it ma y be u seful to a llow the controll er to switc h bac k to the R C mode. T his would typically al low a us er to take o ver the contr ol of a rob otic ve hicle[...]

  • Page 156

    15 6 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Controlle r is on, Rad io is t urned Of f (or Radio On w ith RC c h3 Of f) • Rel ay deactiv ates. RS 232 is now connect ed to shar ed inpu t. • String of Car riage R et urns no w receiv ed b y controller . • Computer looks f or OK prom pt to de tect that the RS232 [...]

  • Page 157

    AX1 500 Motor Controller U ser ’ s Manual 15 7 Decimal to He xadecimal Con version T able logging purposes . Thi s cable has a 1 5-pin m ale conn ector and 3 1 5-pi n connectors . The male c onnector p lugs into the controlle r . Th e applic ation cabl e that w ould no rmally p lug into the c ontroller may no w be plugge d into one of the adapte [...]

  • Page 158

    15 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 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 0 A 42 2A 7 4 4A 1 06 6A 1 1 0B 43 2B 75 4B 1 07 6 B 1 2 0C 44 2C 7 6 4C 1 08 6 C 1 3 0D 45 2D 77 4D 1 09 6 D 1 4 0E 46 2E[...]

  • Page 159

    AX1 500 Motor Controller U ser ’ s Manual 15 9 Decimal to He xadecimal Con version 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 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 71 AB -53 20 3 CB -21 235 EB -1 1 6 1 40 8[...]

  • Page 160

    16 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

  • Page 161

    AX1 500 Motor Controller U ser ’ s Manual 16 1 SECTION 14 Using the Roborun Conf iguration Utility A PC-base d Configurat ion Utility is av ailabl e, free of c harge, from R oboteq. This pro- gram makes configuri ng and op erating the AX1 500 muc h more int uitive b y using pull-do wn menus, but tons and s liders. T he uti lity can als o be used [...]

  • Page 162

    Using the Roborun Configuration Utility 16 2 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 • af ter the insta lla tion is complete, r un the program from your Start Menu > Pro grams > R oboteq The controlle r does not nee d to be conne cted to the PC to start the Utility . Connecting the Contr oller to th e PC Th[...]

  • Page 163

    AX1 500 Motor Controller U ser ’ s Manual 16 3 Roborun Frame, T ab and Menu Descriptions Roborun F rame, T ab and Menu Des criptions The Ro boru n screen contains the fou r main s et of co mmands and inf ormation frames des cribe d below: 1 - Progr am Revision N umber Thi s is the revis ion and da te of the R obor un utility . It is re commend ed[...]

  • Page 164

    Using the Roborun Configuration Utility 16 4 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 This i s th e prog ram ’ s main frame an d includ es se ve ral types o f tabs, eac h of w hic h has se v- eral but tons, menus a nd other Use r Interf ace o bjects. T hese tabs a nd the func tions the y contain are describe d in [...]

  • Page 165

    AX1 500 Motor Controller U ser ’ s Manual 16 5 Loading, Changing Controller P arameters When starting Rob orun , this sc reen is fille d with the defa ult v alues. If the controller is con- nected to you r PC, Ro boru n will a utomatically d etect it an d ask y ou if y ou wish to read its set ting s. The contr oller ’ s set ting in th e PC at c[...]

  • Page 166

    Using the Roborun Configuration Utility 16 6 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 4- Emer g ency St op or In ver t Switc h Sele ct Thi s pull do wn menu allo ws the se lection of the control ler ’ s response to c hanges on th e opti onal sw itc h in put: Emerge ncy St op, I nv ert C omman ds, or n o acti on. S[...]

  • Page 167

    AX1 500 Motor Controller U ser ’ s Manual 16 7 Loading, Changing Controller P arameters accelera te a motor fro m idle to ma ximum speed . See “ P rogrammab le Ac celeration ” on page 45. Analog or R/C Specif ic S et tings The screen sho wn in Figure 9 2 slightly c hanges in func tion of whe ther or not th e Analog Input mode is sel ected. If[...]

  • Page 168

    Using the Roborun Configuration Utility 16 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1, 2007 Closed Loop P arameters The screen s how n in Figure 9 3 is used to set the Propo rtional, In tegral and Dif feren tial gains needed f or the PID algorithm. T hese PID ga ins are l oaded a f ter reset and appl y to both c hanne ls.[...]

  • Page 169

    AX1 500 Motor Controller U ser ’ s Manual 16 9 Encoder S et ting and T esting With this utili ty , the fo llo wing acti ons can be accomp lished: • Set and pro gram the En coder mod ule ’ s parameters in EEPR OM • Activ ate the motors i n eac h direction at variab le speed • Vie w the measured e ncoder coun ts • Vie w the measured e nco[...]

  • Page 170

    Using the Roborun Configuration Utility 17 0 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1 , 2007 The Time B ase parameter is used to compute the speed measure d by the modul e. The measure d speed is a relativ e number rangin g from 0 to +/-1 27 . The relations hip betw een this re lative speed nu mber and th e act ual RPM is[...]

  • Page 171

    AX1 500 Motor Controller U ser ’ s Manual 17 1 Running the Motors 1 - Run/St op Butt on Thi s but ton will cause the P C to send th e r un comman ds to the c ontroller a nd will update the scre en with measure ments receiv ed from the controll er . When the progra m is runni ng, the but ton ’ s ca ptio n c hange s to “ Sto p ” . Pres sing i[...]

  • Page 172

    Using the Roborun Configuration Utility 17 2 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1 , 2007 case the p ow er lev el will be th e one need ed to k eep the Amps within th e limit. No te that the disp lay va lue is no t signed and thus does not pro vide ro t ation direction info rmation. The Ana fields co ntain the ana log [...]

  • Page 173

    AX1 500 Motor Controller U ser ’ s Manual 17 3 Running the Motors 7 - Data L ogging and T imer A timer is pro vided to ke ep trac k of time while runn ing the motors. An addition al set of but- tons and displa y s are pro vided to ope rate a data logge r . T he data logger is fully desc ribed in the se ction th at follows. 8- Joysti ck Enabl e En[...]

  • Page 174

    Using the Roborun Configuration Utility 17 4 AX1 50 0 Motor Contr oller User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Connecting a Jo ystic k Exe rcising the moto rs can e asily be do ne using a J oy stic k in add ition to the on-scree n slid- ers. Simply conn ect a jo ystic k to the PC and enab le it b y clic king in the J oy stic k c hec k box [...]

  • Page 175

    AX1 500 Motor Controller U ser ’ s Manual 17 5 Using the Console cannot be establi shed (e.g. “ Controller not f ound ” , no respon se to com mand c hanges, commun ication er rors, ... etc.). The R obor un utility will le t you ex ercise a nd monito r the moto rs, se nsors and actuato rs usi ng a com pute r . This feature is pa rtic ularl y u[...]

  • Page 176

    Using the Roborun Configuration Utility 176 AX1 500 Motor Controller U ser ’ s Manual V ersion 1 .9b. J une 1, 2007 4- Send Res et Str ing Clic king this but ton wh ile the control ler is in R S232 mode, will cause the re set string to be sent to th e controll er . 5- Send 1 0 Carr iage Re tur ns Clic king this but ton will caus e Rob orun to sen[...]

  • Page 177

    AX1 500 Motor Controller U ser ’ s Manual 17 7 Operating the A X1 50 0 over a W ired or Wireless LAN T o oper ate over th e net work, two co mputer s are requir ed, as show in F igur e 9 7 bel ow . The top comp uter is co nnected to the contro ller via its COM port. B oth computers a re con- nected to a TCP/IP n etwork. The computer connecte d to[...]

  • Page 178

    Using the Roborun Configuration Utility 17 8 AX1 500 Motor Controller Us er ’ s Manual V ersion 1 .9b. J une 1 , 2007 Updating th e Contr oller ’ s Sof tw are The AX 150 0 ’ s opera ting sof tware ca n be easi ly upgra ded af ter it has le f t the fact or y . This f eat ure makes it poss ible to ad d ne w f eatur es and en hance e xisting one[...]

  • Page 179

    AX1 500 Motor Controller U ser ’ s Manual 17 9 Creating Cust omized Object Files Do not r einstall the same fir mwar e version a s the one al r eady instal led in the encoder m odule. Creating Cust omiz ed Objec t Files It is pos sible to cre ate v ersions of th e controll er ’ s firmw are wit h defa ult set tings that are diff er ent th an th [...]

  • Page 180

    Using the Roborun Configuration Utility 180 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 8- Install the ne w objec t file in t he control ler using the Ro boru n utility .[...]

  • Page 181

    AX1 500 Motor Controller U ser ’ s Manual 181 Mec hanical Dimensions SECTION 15 Mec hanical Specif ications Th is sect ion details the mec hanical c haract eristic s of the AX1 500 contro ller . Mec hanical Dimensions The AX1500 is de livere d as an as semble d and te sted Prin ted Circ uit Board . The boa rd includ es conne ctors f or direct con[...]

  • Page 182

    Mec hanical Specifications 182 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Mounting Co nsideratio ns The AX 150 0 ’ s heatsin k is locate d at the bo t tom of the board. T his requires ther efore that the board be mounte d with sp acers that are at m inimum 0. 6 ” (1 5mm). Thermal Considerations The AX1 500 is equ[...]

  • Page 183

    AX1 500 Motor Controller U ser ’ s Manual 183 At tac hing the Controlle r Directl y to a Chassis boar d against a verti cal surf ace as sho wn in the figure belo w will ensu re a bet ter nat ural con vec tion flo w and is, the ref ore, recom mended. F or high current a pplication s, it is pos sible that the controlle r ma y heat up f aster a nd t[...]

  • Page 184

    Mec hanical Specifications 184 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Note tha t the bac k of the PCB has large copper ar eas e xposed jus t under the pow er MOS area. It i s critic al that the interpose r either is insulated (e xample: anodiz ed aluminum ) or a layer of th ermal condu cting - but el ectri call y[...]

  • Page 185

    AX1 500 Motor Controller U ser ’ s Manual 185 Wire Dimensions Wire Dimensions The AX1 500 uses screw terminals f or the pow er connections to the bat teries an d motors. The se conn ectors are rated t o support the c ontroller ’ s maxim um spec ified cur rent. I t is rec- ommende d that y ou use A WG1 2 wi re f or all po we r connecti ons to gr[...]

  • Page 186

    Mec hanical Specifications 186 AX1 500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]