RoboteQ AX2850 инструкция обслуживания

AX2550 AX2850 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.[...]

2 AX2550 Mo tor Controlle r User’ s Manual V ersion 1 .9b. J une 1 , 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

4 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 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 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 C losed Loop 13 SECTION 2 AX2550 Quic k St art 15 What you[...]

6 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 7 SECTION 7 Inst alling , Conn ecting and Using the E ncoder M odule 71 Optic al In cremen tal Enco ders Over view 71 Recommended Encode r T ypes 72 Installi ng the E ncoder Modul e 73 Conne cting the Encode r 75 Cable Lengt h and Nois e Consider ations 76 Motor - Enco der P olarity Matc hing 76 V olt ag [...]

8 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007 T ac hometer or En coder Moun ting 98 T ac h ometer wirin g 98 Spe ed Sens or and Mo tor P olarity 99 Adjust Offset and M ax Spe ed 10 0 Contro l Loop Descr iption 10 0 PID tuning in S peed Mode 10 2 SECTION 10 Normal and Fault Condit ion LED Mess ages 10 3 Use of the LED[...]

AX2550 Motor Co ntroller User ’ s Manua l 9 Analog Dea dband Adjustmen t 127 Po w e r - O n S a fe t y 128 Under V olt age Saf ety 128 Dat a L ogging in Ana log Mode 128 SECTION 13 Serial (RS -232 ) Contr ols and Op eration 131 Use and b enefits of RS232 131 Conne ctor I/O Pi n Assignment (RS 232 Mode) 132 Cable c onfigurat ion 133 Extendi ng the[...]

10 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007 Default PID Gains 150 Jo ystic k Min, Ma x and Ce nter V alues 15 0 Reading & Chang ing Opera ting P arame ters at Runtime 151 Operati ng Modes Registers 152 Read/Change PID V alues 15 2 PWM F reque ncy Register 153 Contro ller St atus Register 153 Contro ller Ident [...]

AX2550 Motor Co ntroller User ’ s Manua l 11 SECTION 15 Using t he Robor un Con figurat ion Utilit y 17 7 Sy stem Requiremen ts 17 7 Downloading and Insta lling the Utility 17 7 Conne cting the Contro ller to t he PC 17 8 Robor un F rame, T ab a nd Menu D escription s 17 9 Get ting O n-Screen H elp 180 L oading, Changing Con troller P arame ters [...]

12 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 13 SECTION 1 Impor tant S afe ty W arnings Read this Section First The AX2550 is a hi gh po wer e lectron ics devi ce. Ser ious damag e, includ ing fir e, may occur t o the unit, motors, wir ing an d batt er ies a s a r esult of its misuse. Please r eview the User’ s Manual f or added p r ecautions pr i[...]

Imp ortant Sa fety Wa rnin gs 14 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 15 SECTION 2 AX2550 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 AX2550 controller in a minim al config uration. T he AX2 850 is a version of the AX2550 controll er with the ad dition of O ptical Enco der inputs . What you will [...]

AX2550 Quic k Start 16 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 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- necting the set of wir es coming o ut from the bac k of the control ler. 1 - Connect ea c h moto r to one of th e two M+ and M-[...]

AX2550 Quic k Start 18 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007 the Control ler ” on pa ge 29 f or more i nforma tion abou t bat teri es and ot her connec tion opti ons. 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 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. If p resent, 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 co[...]

AX2550 Quic k Start 20 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007 P o w er ing On the Contr oll er Impor tant r eminder: T here i s no On -Of f swi tc h on the contro ller . Y ou must insert a switc h on the c ontroller ’ s po wer w ire as described i n section “ Connecti ng to the B at teri es and Motors ” on[...]

AX2550 Motor Co ntroller User ’ s Manua l 21 Default Controller Configuration Default Co ntroller Conf iguration V ersion 1 .9 b of the AX25 50 sof tw are is con figured wi th the f actory defaul ts 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 occu[...]

AX2550 Quic k Start 22 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

AX2550 Quic k Start 24 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 25 SECTION 3 AX2550 Motor Contr oller Ov er view Congrat ulati ons! B y selec ting R oboteq ’ s AX2550 y ou ha ve e mpow ered yoursel f with th e industry ’ s most v ersatile, pow erful and programma ble DC Moto r Controller f or mobile rob ots. T his manua l will gu ide you step b y step through its [...]

AX2550 Motor Controller Ove rview 26 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 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 Pul se Width Modula tion (PWM) a t 1 6kHz . The AX2550 po w er stages can operate from 1 2 to 40VD C and can sustain up to 1 20A of control l[...]

AX2550 Motor Co ntroller User ’ s Manua l 27 T ec hnical features • T ac hometer inputs for c losed lo op speed control • P otentiometer input fo r position (s er vo mode) • 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 [...]

AX2550 Motor Controller Ove rview 28 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. J une 1 , 2007 • 1 2 to 40 V operatio n • Hig h curren t 8 AWG cable sets for ea c h pow er stag es • T emperat ure-based A uto matic Curr ent Limitation • 1 20A up to 1 5 seconds (per c hannel) • 1 00A up to 30 seco nds • 80A e xtended •[...]

AX2550 Motor Co ntroller User ’ s Manua l 29 P o wer Connections SECTION 4 Connecting P o w er and Motor s to the Contr oller Thi s section de scribes the AX255 0 Controller ’ s conne ction s to power sourc es and mo tors . 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 [...]

Connecting P o wer and Motors to the Controller 30 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Co ntro ll er P ower The AX2550 us es a flex ible po wer supp ly sc h eme that is be st describ ed in Figure 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 th[...]

AX2550 Motor Co ntroller User ’ s Manua l 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 we r is also pre sent on the VM ot wires 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 pu[...]

Connecting P o wer and Motors to the Controller 32 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 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 loss of c ontrol and a ll of the AX255 0 saf ety f eat ures[...]

Connecting P o wer and Motors to the Controller 34 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

Connecting P o wer and Motors to the Controller 36 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 • Then pl ace th e load on channel 2 and verif y that is also acti vated by com mands on c hanne l 1 . • Commands on c ha nnel 2 shou ld ha ve no ef f e cts on either output. It will be saf e to wire in paralle l the con[...]

AX2550 Motor Co ntroller User ’ s Manua l 37 Wire Length Limits dur ing a cceleratio n and br aking. Ho wev er , it also means that the fuse ma y not be able t o pr ot ect the cont roll er . Wire Length Limits The AX2550 regul ates the output po w er by switc hin g the pow er to the motors On and Of f at high frequencie s. At suc h frequenci es, [...]

Connecting P o wer and Motors to the Controller 38 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 It is theref ore ess ential that the AX25 50 be conne cted to rec hargeable bat teries. If a po wer supply is used in stead, the current wil l at tem pt to flo w bac k in the po w er supply d uring regenera tion, poten tiall[...]

AX2550 Motor Co ntroller User ’ s Manua l 39 Using the Controlle r with a P ow er Supply bac k up vol tage drop belo w 1 2.V , the DC/DC con v erter ’ s output wi ll be ap proxi mately 0 .5V low er than the hig hest input. 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[...]

Connecting P o wer and Motors to the Controller 40 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 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 AX25 50 ’ s op eratio n can be summari zed as follows: • Recei ve c ommands fro m a radio receiv er , joy stic k or a mic rocomp[...]

General O peration 42 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Selecting the Moto r Control Modes F or eac h motor , the AX2550 supports multiple motion control modes. T he c ontroller ’ s fac- 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 od[...]

AX2550 Motor Co ntroller User ’ s Manua l 43 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this m ode, illu strated in Fi gure 1 8, an analog tac hometer or an optical enc oder (AX2850 only) is used to m easure the ac tua l motor spe ed. If the sp eed c ha nges becau se of c hanges in load, the controller au tomatically co mpen[...]

General O peration 44 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 User Selected Current Limit Set tings The AX2550 ha s curre nt sensors a t eac h of its two output stages. Ev er y 1 6 ms, this 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

General O peration 46 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 mot[...]

AX2550 Motor Co ntroller User ’ s Manua l 47 Pr ogrammable A ccelerati on P rogrammable A cceleration When c hanging sp eed comman d, the AX255 0 will go from the prese nt 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 s[...]

General O peration 48 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 m[...]

AX2550 Motor Co ntroller User ’ s Manua l 49 Lef t / Right T uning Adjustment The AX2550 is deliv ered wi th the “ lin ear ” curves sel ected f or both jo y 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 hannel 1) and “ F ” (c ha nnel 2) ac cording to th e table belo w . Ref[...]

General O peration 50 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

General O peration 52 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 2. 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 o[...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

General O peration 54 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 • Encoder Sp eed or P osition if module is installed The entire stri ng is repe ated e ve r y 208 or 224 millis econds (dependin g whether the encode r module is present) with the l atest in ternal paramete r va lues. T his inf ormation can be logg ed[...]

AX2550 Motor Co ntroller User ’ s Manua l 55 AX2550 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. AX2550 Con nections The AX2550 us es a set of po wer wire s [...]

Connecting S ensor s and A ctuators to Input/Outputs 56 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Pr o gram S e t R es e t S e t Re se t 5 6 7 9 8 4 3 1 2 1 - DC Motors 2- Optiona l sensors : - T ac h ometers (Clos ed loop Sp eed mode) - P oten tiometers ( Ser vo mode) - Optica l Encoder (AX2850 only - al l close d [...]

AX2550 Motor Co ntroller User ’ s Manua l 57 AX2550 ’ s Inputs and Outputs AX255 0 ’ s Inputs an d Output s In addi tion to t he RS2 32 and R/C c hannel comm unicati on lines, the AX2550 inc ludes s ev- eral inputs and o utputs for v arious s ensors and act uators. D epending on the se lected ope r- ating mo de, some of these I/ Os pro vide f[...]

Connecting S ensor s and A ctuators to Input/Outputs 58 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 I/O List an d Pin Assi gnment The figure and t able belo w lists all the inputs and outputs tha t are a vaila ble on the AX255 0. T ABLE 1 0. DB1 5 connector pin assign ment Pin Numbe r Input or Output Signal depending [...]

AX2550 Motor Co ntroller User ’ s Manua l 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[...]

Connecting S ensor s and A ctuators to Input/Outputs 60 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 “ Activ ating th e Acc essor y Outputs ” on page 1 20 for m ore inf ormation. When the c ontroller is used i n RS2[...]

AX2550 Motor Co ntroller User ’ s Manua l 61 Connecting S witc hes or De vices to Input F Input E is a high impedance i nput with a pull-up resistor bui lt into the c ontroller . T heref ore it wi ll report an O n state if unc onnected , and a s imple switc h as sh own on Figure 29 is nec- essary to activa te it. The status of Inp ut E can be rea[...]

Connecting S ensor s and A ctuators to Input/Outputs 62 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 On co ntrollers pr ior to R ev B, In put F is an opto-c oupled in put and r equires the b uf 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 63 Analog Inputs The status of the EStop/ Inv c an be rea d at all tim es in the R S2 32 mode with the ?i com- mand s tring. The con troller wil l respond w ith three se ts of 2 dig it numbers. T he s t at us of the ES/In v Inpu t is containe d in the last set of num bers and may be 00 to indicate an Of f[...]

Connecting S ensor s and A ctuators to Input/Outputs 64 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Connecti ng the pote ntiometer to the control ler is as s imple as shown in the di agram on Figur e 33. The potentiom eter must be at t ac hed to the mot or frame s o that its bo dy does not mo ve in relation ship with [...]

AX2550 Motor Co ntroller User ’ s Manua l 65 Connecting T ac hometer to Analog Inputs Since th e controll er only acc epts a 0 to 5V p ositiv e vo ltage as its i nput, the circu it sho wn in Figure 34 mus t be used betw een the controlle r and the tac home ter: a 1 0kOhm potentiom - eter i s used to sc ale the tac hometer output v oltage to -2.5V[...]

Connecting S ensor s and A ctuators to Input/Outputs 66 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Connecti ng External T hermistor to An alog Input s Using e xterna l thermistor s, the AX25 50 can be m ade to su per vise the m otor ’ s tempera- t ure and adjust the po w er output in case of o v erheatin g . Con ne[...]

AX2550 Motor Co ntroller User ’ s Manua l 67 Using the Analog Inputs to Monitor Exte rnal V oltage s 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 into a tem perat ure val [...]

Connecting S ensor s and A ctuators to Input/Outputs 68 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Internal V oltage Mon itoring Senso rs The AX2550 in corporates vol t age sensors tha t monitor the Main B at tery vol t age and the Internal 1 2V suppl y . This inf ormation i s used b y the contro ller to prote ct it [...]

AX2550 Motor Co ntroller User ’ s Manua l 69 T emperature Con v er sion C S ource Code T emperature Con v er sion C Source Cod e The code belo w can be us ed to con vert the ana log readi ng into temperat ure . It is provid ed f or ref erence on ly . Interpolation table is f or the intern al thermistor s. int ValToHSTemp(int AnaValue) { // Interp[...]

Connecting S ensor s and A ctuators to Input/Outputs 70 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 71 Optical Increm ental Encoders Overview SECTION 7 Installing, Connecting and Using the Encoder Module Thi s secti on descri bes the Encoder in put modul e that is fac tor y installe d inside the AX2850 or that may b e added o nto the AX2550. Optical Incremental Encoder s Overview Optic al incre ment al [...]

Installing, Connecting and Using the E ncoder Mod- 72 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 73 Installing the Encoder Module Specifi cally , the en coder mod ule can p rocess 250, 00 0 co unts per sec onds. A s discu ssed in the pre vio us section, a count i s generated f or eac h transition o n the Chan nel A and Channel B . Ther efore the module will w ork with encoders out put tin g up to 62,[...]

Installing, Connecting and Using the E ncoder Mod- 74 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 F ollow t hese sim ple st eps to in st all: 1 - With the pow er rem ov ed, remo ve the controlle r ’ s fac e plate a nd slide of f the cov er . 2- Car efully insert the encod er module on top of the two headers present [...]

AX2550 Motor Co ntroller User ’ s Manua l 75 Connecting the Encoder 4- Sli de the c over bac k on. I nst all th e new face pla te. Connecting t he Encoder The Encoder module u ses a wid ely av ail able 8-pi n RJ45 conn ector iden tical to tho se fo und on all Ethernet de vice s. Th e connector p rovi des 5V po w er to the e ncoders and has inp ut[...]

Installing, Connecting and Using the E ncoder Mod- 76 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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).[...]

AX2550 Motor Co ntroller User ’ s Manua l 77 V oltage Lev els, Thresholds a nd Limit Switc h es On the 2 850 f amily of controller s, the thres hold v oltage ma y be c hanged un der sof t wa re control to a ny v alue between 0 an d 5V in order to me et unusual encoder spe cifications . B y defa ult, the th reshold le ve l is 2.5V . Another s et o[...]

Installing, Connecting and Using the E ncoder Mod- 78 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 Optio[...]

AX2550 Motor Co ntroller User ’ s Manua l 79 Wiring Limit S witc hes Without Encoders Wiring Li mit Switc he s Without Encoder s If no enc oder is u sed, the Enco der Module ’ s inpu ts can be used to wir e lim it switches dire ctly wit h sole ly a pul l-up re sistor as shown in t he diag ram bel ow . Ef fect of Limit Switc h es Eac h pair of l[...]

Installing, Connecting and Using the E ncoder Mod- 80 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 Usin[...]

AX2550 Motor Co ntroller User ’ s Manua l 81 Using the Encoder to T rac k P osition A simpl e procedu re is in cluded i n the R obor un PC utility to easi ly determ ine and set these paramet ers. F or inf ormatio n, the e xact f ormula is s hown be low: M eas ur e d S pe ed V a lu e = RP M * PP R * 4 * (T ime B ase + 1) * 25 6 / (6 0 * 1 00000 0 [...]

Installing, Connecting and Using the E ncoder Mod- 82 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Th e a ctu al fo r mu la is a s fo l low s : Dis tance = (Destinati on - Count er v alue) / Divider Where: di vider is a configur able parame ter of v alue 1, 2, 4, 8, 1 6, 32, 64 or 1 27 If compu ted distance i s less th[...]

AX2550 Motor Co ntroller User ’ s Manua l 83 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, ca libration , set ting a nd testing su pport is pro vided i n the Robo run PC utili t y . B asic ins tr uctions on ho w to instal l and r un the PC utili t y ca n be f ound [...]

Installing, Connecting and Using the E ncoder Mod- 84 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 85 Mode Description SECTION 8 Closed Loop P osition Mode Thi s section describe s the AX2550 P osition mode, h ow to w ire the motor an d position sen- 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 coupled t[...]

Closed Loop P osition Mode 86 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 P os ition Se nsor S electi on The AX2550 ma y be used wi th the f ollo wing kind o f sensors : • P otentio meters • Hall ef fec t angula r sensors • Optical Encoders (w ith Encode r Module) The first two a re used to generate an anal og v[...]

AX2550 Motor Co ntroller User ’ s Manua l 87 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[...]

Closed Loop P osition Mode 88 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 89 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 ”[...]

Closed Loop P osition Mode 90 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 36 Using Optical En coder s in P osi ti[...]

AX2550 Motor Co ntroller User ’ s Manua l 91 Encoder Err or Detection and Pr otection 9. If the moto r t urns in the d irection i n whic h th e sensor w as mo ve d, the polari t y is corr ect. Th e sensor a xle ma y be tigh ten to the m otor asse mbly . 10 . If the motor t urns in th e direction a w ay fro m the sensor , then the polari t y is re[...]

Closed Loop P osition Mode 92 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 93 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[...]

Closed Loop P osition Mode 94 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 d[...]

AX2550 Motor Co ntroller User ’ s Manua l 95 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[...]

Closed Loop P osition Mode 96 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 97 Mode Description SECTION 9 Closed Loop Speed Mode Thi s section dis cusses the AX2550 Clos e Loop Spee d 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 anges i[...]

Closed Loop Speed Mode 98 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 1, 2007 Using Optical Encoder for Speed F eedbac k (AX2850 only) Digital Optic al Enco ders ma y be used to capt ure ac curate mo tor speed. This capabili ty is only a v ailable o n controll ers fit ted with the o ptional enc oder modul e. Detailed i nforma[...]

AX2550 Motor Co ntroller User ’ s Manua l 99 Speed Sens or and Motor P olarity Connecti ng the tac ho meter to the controller is as simp le as sh own in the diagra m belo w . 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 [...]

Closed Loop Speed Mode 10 0 AX2550 Motor Controlle r User ’ s Ma nual V ersion 1 .9b. Ju ne 1, 2007 7. Mov e the cursor of the desired motor to the right so that the mot or starts rotating, and v erify that a positiv e speed is reported. Mo v e the cursor to the lef t and veri fy that a ne gative speed is rep orted. 8. If the tac ho meter or enco[...]

AX2550 Motor Co ntroller User ’ s Manua l 101 Control Loop Description ence me asured b et w een the desired s peed (set by th e user) and t he act ual po sition (c ap- t ured b y the tac hom eter). Figure 6 4 sho ws a repr esentation of t he PID al gorithm. Ev ery 1 6 mill iseconds, the control - ler measu res the act ual mot or speed and subtra[...]

Closed Loop Speed Mode 10 2 AX2550 Motor Controlle r User ’ s Manu al V ersion 1 .9b. Ju ne 1, 2007 PID tuning in Speed Mo de As di scusse d abo ve, thre e paramet ers - P roportiona l Gain, Inte gral Gain, and Dif fere ntial Gain - can b e adjusted to tune th e Closed L oop Speed con trol algorith m. The ultimate goal in a w ell t uned PID is a [...]

AX2550 Motor Co ntroller User ’ s Manua l 10 3 Use of the LE D Displa y SECTION 10 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 AX2550 us es a sin gle [...]

Normal and F ault Condition LED Messages 10 4 AX2550 Motor Controlle r User ’ s Manu al V ersion 1 .9b. Ju ne 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 the [...]

AX2550 Motor Co ntroller User ’ s Manua l 10 5 Fau l t M e ss ag es Fault M essages The AX2550 us es the LED d ispla y to report f ault con ditions. W hen these messages 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 i[...]

Normal and F ault Condition LED Messages 10 6 AX2550 Motor Controlle r User ’ s Manu al V ersion 1 .9b. Ju ne 1, 2007 T em porar y 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 10 7 Self-T est Display = Sof tware v ersion 1 .9b FIGURE 67 . Example of Sof twa re rev ision numb er displa y[...]

Normal and F ault Condition LED Messages 10 8 AX2550 Motor Controlle r User ’ s Manu al V ersion 1 .9b. Ju ne 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 10 9 Mode Description SECTION 1 1 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 AX2550 ca n be directly connec ted to an R/C rec eiv er . In this mode , the speed or posi- tion inf ormat ion is contain ed in[...]

R/C Oper ati on 11 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 ods:[...]

AX2550 Motor Co ntroller User ’ s Manua l 111 R/C Input Circuit Description R/C Inpu t Circuit Description The AX2550 R/C i nputs are directly connected to the MCU lo gic. Figure 7 0 sho ws an ele c- trical repre sentation of the R/C i nput circuit. Supplie d Cable Descrip tion The AX2550 is deliv ered wi th a cus tom cable with the f ollo wing w[...]

R/C Oper ati on 11 2 AX2550 Motor Controlle r User ’ s Manu al V ersion 1 .9b. Ju ne 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 radio[...]

AX2550 Motor Co ntroller User ’ s Manua l 11 3 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 [...]

R/C Oper ati on 11 4 AX2550 Motor Controlle r User ’ s Manu al 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 contro[...]

AX2550 Motor Co ntroller User ’ s Manua l 11 5 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[...]

R/C Oper ati on 11 6 AX2550 Motor Controlle r User ’ s Manu al 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 78 belo w . Af ter pow ering on the R/C radio receiv er and tran smit ter , and if th [...]

AX2550 Motor Co ntroller User ’ s Manua l 11 7 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 act[...]

R/C Oper ati on 11 8 AX2550 Motor Contro ller User ’ s Manual V ersion 1 .9b. J une 1, 2007 Command Cont rol Cu r v es The AX2550 can a lso be set to tra nslate the j oy stic k m otor commands so that the mo tors 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 o[...]

AX2550 Motor Co ntroller User ’ s Manua l 11 9 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 [...]

R/C Oper ati on 12 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 12 1 Data Logging in R/C Mode Data Logg ing in R/C Mode While in R /C Mode, th e AX2550 wi ll contin uously send a string of c haracters on the R S232 output line. T his string will co ntain 1 2 t w o-digit hexa decima l numbers rep resenting the f ol- low ing operatin g parameters . • Captu red R/C Com[...]

R/C Oper ati on 12 2 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 1 2 3 4 7 8 9 5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 6 RX Data RS232 Data Out GND R/C Ch 1 R/C Ch 2 R/C GND R/C +5V GND DB9 Female T o PC DB15 Male T o Controller FIGURE 82 . Modified R/C cable w ith RS2 32 output f or data loggin g to a PC[...]

AX2550 Motor Co ntroller User ’ s Manua l 12 3 Mode Description SECTION 12 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 AX25 50 can be conf igure d to us e a 0 to 5V anal og volt age, t ypi cal ly produ ced us ing a potentiom eter , to control eac h o[...]

Analog Control and O peration 12 4 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 Nu[...]

AX2550 Motor Co ntroller User ’ s Manua l 12 5 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 (p oten tiomet er , Digit al t o Ana log co nv erte r). The controlle r considers 2.5V to be the z ero position (Motor Of f). 0V is[...]

Analog Control and O peration 12 6 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 n[...]

AX2550 Motor Co ntroller User ’ s Manua l 12 7 Analog Deadband A djustment 1 00K or higher pote ntiometer . Figure 86 sh ows ho w the output v oltage va ries at th e vari- 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 [...]

Analog Control and O peration 12 8 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 12 9 Data Logging in Analog Mode • Internal Hea t Sink tempera ture s 1 and 2 • Main B at ter y v oltage • Internal 1 2V voltage • Encoder Sp eed or P osition (A X2850) The entire string is repeate d ev ery 21 3 millisecond s with the la test internal parameter v al- ues. This i nfo rmation can be[...]

Analog Control and O peration 13 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 13 1 Use and benefits of RS232 SECTION 13 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 AX2550 in the RS 232 mode of operatio ns. T his inf ormatio n is useful if yo u plan to write yo ur ow n controll ing sof t wa re on [...]

Serial (RS-232) Contr ols and Operation 13 2 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 13 3 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 2550. It is cri tical tha t you do not[...]

Serial (RS-232) Contr ols and Operation 13 4 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Commu nicat ion Set tin gs The AX2550 se rial com municati on port is set as f ollo ws: 960 0 bits/s, 7 -bit data, 1 Star t bit, 1 St op bit, Ev en P a r ity Communi cation is done wi thout flo w control, meaning t hat the co ntrol[...]

AX2550 Motor Co ntroller User ’ s Manua l 13 5 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[...]

Serial (RS-232) Contr ols and Operation 13 6 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 13 7 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[...]

Serial (RS-232) Contr ols and Operation 13 8 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 o[...]

AX2550 Motor Co ntroller User ’ s Manua l 13 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 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 s[...]

Serial (RS-232) Contr ols and Operation 14 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Query P ow er Applied t o Motor s Descrip tion: Thi s query will cause the co ntroller to re turn the act ual amount o f pow er that i s being applie d to the motors at that tim e. The num ber is a hexa decima l number ranging from[...]

AX2550 Motor Co ntroller User ’ s Manua l 14 1 Controller Commands and Q ueries va lues repre sent the act ual speed me asured b y the t ac hometer . When use d in posi tion mode, the va lues represe nt the act ual motor po sition me asured b y a potentio meter . In all othe r mode s, the val ues r epres ent th e measu red volt ag e (0 to 5V ) ap[...]

Serial (RS-232) Contr ols and Operation 14 2 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 driv ers. T he v alues are unsig ned He xadecim al numbe rs rangin g from 0 to 2 55. T o conv ert these nu mbers into a vol t age figure, use the formu las describ ed in “ In ternal V oltage Moni- toring Se nsors ” on pa ge 68.[...]

AX2550 Motor Co ntroller User ’ s Manua l 14 3 Acc essing & Changing Configuration P arameter in Flash 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 ters stored i n Flash. Thes e comma nds wil l appear cr yptic an d dif ficult to use[...]

Serial (RS-232) Contr ols and Operation 14 4 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 R eply: + Succ ess, c hanged param eters are n ow a ctiv e - if erro r T able 25 bel ow lists the compl ete set of config urati on par ameter s that m ay be access ed and c ha nged using R S232 comma nds. Flash Configuration P aram[...]

AX2550 Motor Co ntroller User ’ s Manua l 14 5 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- ne[...]

Serial (RS-232) Contr ols and Operation 14 6 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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: Af ter Reset or ^FF Thi s parameter c onfigures the co[...]

AX2550 Motor Co ntroller User ’ s Manua l 14 7 Acc essing & Changing Configuration P arameter in Flash A cceleration A ddre ss: ^03 Access: R ead/Write Eff ective: Af ter Reset or ^FF 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. Inpu[...]

Serial (RS-232) Contr ols and Operation 14 8 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 RC Jo ystic k or Analog Deadband A ddre ss: ^06 Access: R ead/Write Eff ective: Af ter 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 with[...]

AX2550 Motor Co ntroller User ’ s Manua l 14 9 Acc essing & Changing Configuration P arameter in Flash Thi s parameter c onfigures the transf er c ur ve tha t is appl ied the input command. Lef t/Right A djust A ddre ss: ^0B Access: R ead/Write Eff ective: Af ter Reset or ^FF Thi s param eter config ures the com pensatio n cur ve when mo tors[...]

Serial (RS-232) Contr ols and Operation 15 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Default Encoder Distance Divider A ddre ss: ^0E Access: R ead/Write Eff ective: Af ter Reset or ^FF Thi s parameters is the Encoder ’ s Distance Divider that i s loaded af ter th e controller is reset or po wer ed on. T he Enco d[...]

AX2550 Motor Co ntroller User ’ s Manua l 15 1 Reading & Changing Operating P aram eter s 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 Gains v alu es that a re loaded af ter the controller is reset o r pow - ered o n. The se Gains a pply to both c hanne ls. Gains c an be c[...]

Serial (RS-232) Contr ols and Operation 15 2 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 15 3 Reading & Changing Operating P aram eter s at Runtime ^86 - I2 ^87 - D2 Access: R ead/Write Ef f ectiv e: Instan tly The Pro portional, Integr al and Deri vativ e gain f or eac h cha nnel can be read and c han ged on- the-fly . T his functio n also pro vides a m ean fo r set ting di f f erent PI [...]

Serial (RS-232) Contr ols and Operation 15 4 AX2550 Motor Co ntroller User ’ s Manual V ersio n 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 15 5 RS232 Encoder Command S et RS232 Encoder Co mmand Set When pres ent, the En coder mod ule responds to a dedi cated se t of commands and que - ries. 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-2[...]

15 6 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 15 7 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[...]

15 8 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 t[...]

AX2550 Motor Co ntroller User ’ s Manua l 15 9 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 [...]

16 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 ar[...]

AX2550 Motor Co ntroller User ’ s Manua l 16 1 Reg ister Descr ipt ion 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 at. Th is inf ormation is ret urned us ing the ? p quer y (s ee “ [...]

16 2 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 *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 registers should alw a ys be set us ing the mai lbox mec hanism desc ribed abo v e. Se e “ Us[...]

AX2550 Motor Co ntroller User ’ s Manua l 16 3 Counter Read Data Format Counter Read Data Format When r eceiving a counter rea d query , the encoder m odule wi ll output the val ue of its 3 2-bit counter . If all 32-bit a re sent, thi s woul d require 8 ASCII d igits to repres ent the v alue. A 32-bit c ounter can s tore o ver 2 billion counts in[...]

16 4 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 16 5 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 hicl[...]

16 6 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 16 7 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[...]

16 8 AX2550 Motor Co ntroller User ’ s Manual V ersio n 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 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 16 9 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 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 -53 203 CB -21 235 EB -1 1 6 1 40 8[...]

17 0 AX2550 Motor Contro ller User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

AX2550 Motor Co ntroller User ’ s Manua l 17 1 SECTION 14 Conf iguring the Contr oller using the S witc hes The AX2550 Sp eed Control ler can be program med to op erate in many m odes us ing 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 c[...]

Configuring the Controller using the Switc hes 17 2 AX2550 Motor Contro ller 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 17 3 Pr ogramming using built-in S witc hes and Display Be car eful not t o c onfuse the Set and Pr ogra m butt on when ent er ing the Pr ogr am- ming Mode . Pr essing an d holdin g the Set but to n alone f or 1 0 seconds af ter r eset will cause the c ontrolle r to ent er in sel f-test mod e. This will c[...]

Configuring the Controller using the Switc hes 17 4 AX255 0 Motor Controlle r User ’ s Ma nual V ersion 1 .9b. Ju ne 1, 2007 the contr oller . All paramete rs, includin g Jo y stic k l imits, will be reset to thei r defa ult val ues shown in t he “ Prog rammable P aramet ers List ” on page 1 7 4 Exit ing t he Parame ter Setting Mo de Exiting [...]

AX2550 Motor Co ntroller User ’ s Manua l 17 5 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- gram mable using the Conf iguration Utility (pag e 1 77) or the R S232 com mands (p a[...]

Configuring the Controller using the Switc hes 176 AX2550 Motor Co ntroller User ’ s Manu al V ers ion 1 .9b. Ju ne 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 [...]

AX2550 Motor Co ntroller User ’ s Manua l 17 7 SECTION 15 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 AX2550 mu c h more in tu itive b y us ing pull-do wn m enus, but tons an d sliders. T he uti lity can als o be u[...]

Using the Roborun Configuration Utility 17 8 AX2550 Motor Contro ller User ’ s Manual V ersion 1 .9b. J une 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 The [...]

AX2550 Motor Co ntroller User ’ s Manua l 17 9 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 nde[...]

Using the Roborun Configuration Utility 180 AX2550 Motor Controlle r User ’ s Ma nual V ersion 1 .9b. Ju ne 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 incl[...]

AX2550 Motor Co ntroller User ’ s Manua l 181 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[...]

Using the Roborun Configuration Utility 182 AX2550 Motor Controlle r User ’ s Ma nual V ersion 1 .9b. Ju ne 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 d[...]

AX2550 Motor Co ntroller User ’ s Manua l 183 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[...]

Using the Roborun Configuration Utility 184 AX2550 Motor Controlle r User ’ s Ma nual V ersion 1 .9b. Ju ne 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 f [...]

AX2550 Motor Co ntroller User ’ s Manua l 185 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[...]

Using the Roborun Configuration Utility 186 AX2550 Motor Controlle r User ’ s Ma nual 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[...]

AX2550 Motor Co ntroller User ’ s Manua l 187 Running the Motors 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 progra m is running, the but ton ’ s capti on c hang es to “ St op ” . P ressing it [...]

Using the Roborun Configuration Utility 188 AX2550 Motor Controlle r User ’ s Ma nual V ersion 1 .9b. Ju ne 1, 2007 case the p ow er le vel w ill be the o ne needed to keep the Amps w ithin the lim it. 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 ana log inp[...]

AX2550 Motor Co ntroller User ’ s Manua l 189 Running the Motors three dig ital inputs prese nt on the contro ller . Blac k rep resents a “ 0 ” lev el. Gre en repre- sent s a “ 1 ” lev el . 7 - Data Logg ing and Timer A timer is pro vided to keep tra c k of time while r unnin g the motors. An additional set of but- tons and displa ys a re[...]

Using the Roborun Configuration Utility 19 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 line of th e sa ve file contains the Header n ames. Eac h fo llowin g line co ntains a com plete set of pa rameters. The He ader name , order and parameter de finition is show n in T abl e 36: Connecting a Jo ystic k Exe rcising th[...]

AX2550 Motor Co ntroller User ’ s Manua l 19 1 Using the Console A jo ystic k test program nam e “ Jo yt e s t ” is aut omatic ally in stalled in the Start menu w hen 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 the PC and is fully operationa l. Using t he Conso[...]

Using the Roborun Configuration Utility 19 2 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 ries. See “ RS2 32 Encode r Command Set ” on page 1 55 for the list of Encoder relate d 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, t hen af ter 1 sec[...]

AX2550 Motor Co ntroller User ’ s Manua l 19 3 Operating the AX2550 o ver a Wired or Wirele ss LAN Operating the AX2550 ov er a Wired or Wireless LAN The Ro boru n utility supp orts connec tion and o peration o f the AX2550 controlle r 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 and monitor the con[...]

Using the Roborun Configuration Utility 19 4 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Note tha t it is no t possible to use this configuratio n to c h ange the c ontroller ’ s parameters or up date t he con trol ler ’ s sof t ware. Updating th e Contr oller ’ s S of tw are The AX25 50 ’ s operating so f twar[...]

AX2550 Motor Co ntroller User ’ s Manua l 19 5 Creating Cust omized Object Files Notes: The Updating uti lity will automa tically dete ct whether the ne w sof t w are is intende d for the main or encoder ’ s MCU and progra m one or th e other ac cordingly . It is a g ood idea to load the co ntroller ’ s parameters in to the PC and sav e them [...]

Using the Roborun Configuration Utility 19 6 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 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 t he Robo r un ut ilit y t o [...]

AX2550 Motor Co ntroller User ’ s Manua l 19 7 Mec hanical D imensions SECTION 16 Mec hanical Specif ications Th is sect ion details the mec hanical c haracte ristic s of the A X2550 co ntrolle r . Mec h anical Dimensions . The AX25 50 is bu ilt int o a extr ud ed alum inum ca se which also ser ves as a heat si nk for its elect roni cs. Fi gure 1[...]

Mec hanical Speci fications 19 8 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Mounting Co nsideratio ns Program Set Reset 5.50" (140 mm) 4.00" (102 mm) 1.60" (40 mm) FIGURE 1 1 0 . AX2550 front vie w an d dimension s 0.25" (6.3 mm) 7.00" (177.8 mm) 5.50" (140 mm) 4.00" (101.6 mm) 3.00&[...]

AX2550 Motor Co ntroller User ’ s Manua l 19 9 Thermal Considerations Mounting brac k ets o n eac h en d are pro vided for du rable asse mbly of the controlle r onto any c hassis. Optiona l shoc k mount absorb ers may be adde d for u se in the most br utal en vironmen t. Thermal Considerations The AX2550 is built into a heat-sink ing alumin um e [...]

Mec hanical Speci fications 20 0 AX2550 Motor Co ntroller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Wei g ht Controlle r wei ght is 3.3 lbs (1 5 00g) P o wer Contro l or Bac kup Controlle r Bat te r y AWG 2 2 0 . 0 7 ” (1 .8mm) Y ellow 1 7 ” (43mm) Controller B at ter y- A WG22 0.07 ” (1 .8mm) Blac k 1 7 ” (43mm ) T ABLE 37 . AX2550 [...]