Summary of Contents for Robot-Solutions RS160D
- Page 1 RS160D PMDC Servo Controller Robot-Solutions, LLC Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide...
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Page 2: Table Of Contents
R/C Pulse Low Limit (n) .....................17 Proportional (Position) Gain (P) .................17 Position Set Point (p) ....................17 Factory Preset (Q) .....................17 Servo Update Rate (r)....................18 Power Slew Rate (s) ....................18 Torque Limit (T) ......................18 Torque Set point (t) ....................18 Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide... - Page 3 Analog Signal ......................26 Step & Direction .....................26 Feedback Input Methods....................27 Encoder ........................27 Analog Signal ......................27 Appendix C: Interface Wiring Information..............28 Analog........................28 Step & Direction ......................29 Incremental Encoder....................30 Manual Move ......................31 Appendix D: Example applications................32 Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide...
- Page 4 Factory Default......................32 Giant R/C Servo......................33 Set Up & Tuning .....................33 CNC (Stepper motor) servo ..................35 Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide...
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Page 5: Specifications
Specifications The RS160D servo uses custom software to implement a 2.5 channel high-powered servo system. The servo uses a quadrature encoder feedback mechanism to control torque, velocity, and position of the output. • Enclosure size: 8.80” x 4.80” x 2.40”... -
Page 6: Overview
PMDC motors. The step & direction interfaces directly with CNC software. The RS160D can store up to four unique sets of configuration data. The Controller automatically loads the last saved or recalled set upon power up, supporting unattended operation. -
Page 7: Factory Default
Factory Default As shipped from the factory the RS160D firmware will boot into a default minimal function mode. The feature set is as follows: 1. Basic PWM control: 95% reverse to 95% forward power. 2. R/C input control, +/- 10us dead band. -
Page 8: Customization
Customization There are a variety of customizations that can be applied to the RS160D: 1. Channel Mixing for single or dual stick operation 2. Calibration of R/C inputs 3. Adjustable control curves 4. Control Dead band 5. Minimum Drive values for output 6. -
Page 9: Channel Mixing (X)
The factory default is a mild curve of 3. Variable Brake (B) When control sticks are in neutral position the RS160D can apply a variable amount of braking effort. Braking varies from 0 (coasting) to 31 (100%). Braking is regenerative and will generate current and re-charge the supply battery. -
Page 10: Minimum Drive (M)
R/C input calibration The RS160D can be calibrated for the particular range of R/C pulse widths supplied by the radio. Calibration can be done explicitly, where the user specifies the minimum and maximum control pulse widths in microseconds, or calibration can be done by discovery. -
Page 11: Saving Custom Settings (W)
When power is lost and restored, the RS160D will restore the last slot stored. If an alternate slot is needed it can be recalled with the following command: @{0, 1, 2 or 3}gw After recall, if the power is lost, the RS160D will restore the last recalled or stored slot. Robot-Solutions 2005 RS160D www.robot-solutions.com... -
Page 12: User Interface
The local echo option repeats every character received so that the user can see what they are typing. The status of the non-volatile storage can be determined by the status LED on the RS160D. It has two states: Robot-Solutions 2005 RS160D www.robot-solutions.com... -
Page 13: Internal Register Summary
(not @ registers), an optional repeat modifier may be specified to cause the RS160D to periodically print out information. The repeat modifier is just a number after the single character command. The number is the repetitions per second. -
Page 16: Internal Register Description
Internal Register Description The following is a summary of commands used to set and query internal registers of the RS160D. Most commands operate on channels and apply (or print) values. A few commands have no register value. Please reference Customizations, under Factory Defaults, above, for details of the register command format. -
Page 17: Error Dead Band (D)
So, if you want the default, boot value to be zero, then zero this register before saving user parameters. The RS160D encoder input implements a 2X quadrature decoder. One multiplies the encoder slot count (e.g. 64) by 2 to determine the total number of counts per revolution. -
Page 18: Temperature Protection Override (F)
This register allows temporary override of temperature fold back function within the RS160D. When set to 1 fold back is disabled and full power can be delivered regardless of the heat-sink temperature of the power driver. This value is volatile, meaning it cannot be saved and will be reset to zero after each power cycle. -
Page 19: Local Echo Option (L)
Example, Set Encoder value: Send: @0se1234<cr> Get: *se1234<cr> Example, Get Actual Encoder Value: Send: @0ae<cr> Get: #0se1234<cr> Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide - 15 -... -
Page 20: Minimum Drive (M)
-100% to 100% can be shifted and scaled. The default values are suitable for most off the shelf R/C gear. Note: despite the large range of limits available, the RS160D will only recognize pulse width values between 850 and 2150 uS as valid. -
Page 21: R/C Pulse Low Limit (N)
Proportional (Position) Gain (P) Range: +/- 32000 Default: 0 The RS160D servo uses the P register to determine the correction needed for a given error between actual and commanded positions. This value Proportional Error Gain term in the PID calculation. -
Page 22: Servo Update Rate (R)
By limiting torque, one can control acceleration and deceleration of the servo. Or, one can limit maximum current draw, thus preventing circuit breakers from tripping. Torque Set point (t) Range: 0-255 Default: 0 Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide - 18 -... -
Page 23: Unit Amount Minimum Move (U)
Velocity Limit (V) Range: +/- 1023 Default: 0 The velocity limit controls how fast the RS160D moves the output to a new position set point. Velocity is in terms of encoder counts per servo update period. Velocity Set point (v) -
Page 24: Channel Mixing (X)
Note: the left and right over current values are latched upon the over current event and are not cleared until printed with the next S command. • T{c#}<cr> Print out the current temperature of the power driver heat sink. The RS160D Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com... -
Page 25: Output Drive Values
Machine commands used to control the servo. Output Drive values The RS160D uses 8 bit PWM hardware. It uses values from 0 to 255 to represent 0 - 100% drive. Drive can also be in reverse. Hence, drive (PWM) values are specified from -255 to 255. -
Page 26: Tuning, Discovering Servo Pid Gain Values
Adjust the previously discovered values by the change in loop rate (i.e. if 1/2 the period, then double the gains, etc.). Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide... -
Page 27: Position Mode (4)
BRAKE user adjustment. FWD/REV LED (Aux, Left, Right) Green = Forward, Yellow = Reverse. Dark = zero drive. The RS160D modulates the Coast signal to implement variable brake. When the power driver has zero drive and zero COAST (i.e. both LED’s are dark) maximum braking is applied to the load. -
Page 28: Limitations And Warrantees
General Guidelines • Caution does need to be taken with the use of the RS160D as with any other motor controller. In rare cases where the motor controller fails, it can lock in the “ON” position with no ability to stop the motor that is being controlled. All users should utilize a safety disconnect to the main power to allow for the safe disconnect of the power. -
Page 29: Appendix A: System Software Updates
RS232 port. No special programming hardware is required. The only requirement is a PC with a serial port. The procedure is as follows. 1. Connect the RS160D to the com1 port on the PC and verify the connection by using a terminal emulator to interact with the user menu. -
Page 30: Appendix B: Input Methods
The R/C signaling standard calls for 1.0 to 2.0ms pulse width with a 20ms repetition rate. The RS160D can correctly decode pulse widths from .850 to 2.150 ms and as fast as 300 Hz repetition rate, on each channel. The factory default calibration sets the +/- 100% value to 1.050 to 1.950 ms, respectively. -
Page 31: Feedback Input Methods
Industry standard quadrature encoders using 2x decoders (i.e. the resolution is twice the slot count). There is no support for index marks or limit switches. The RS160D can support up to three channels of encoder with a maximum sustained encoder count rate of 100 kHz, shared by all channels. -
Page 32: Appendix C: Interface Wiring Information
Other direct analog signals can be connected directly to the header using normal CMOS analog signal considerations. The +5v and ground supplies are regulated and filtered on the RS160D controller. A reasonable amount of current (50-200 ma.) may be drawn from these supplies to power off board electronics. -
Page 33: Step & Direction
NO error output. The output is not protected against voltage overloads: DO NOT CONNECT THE OUTPUT TO A POWER SOURCE GREATER THAN 5.0 VOLTS OR YOU WILL DAMAGE/DESTROY THE RS160D. Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com... -
Page 34: Incremental Encoder
Incremental Encoder The RS160D uses AMP MTA 5 pin Male sockets wired for US Digital Encoder standard cables. The pin-out matches the typical HEDS encoder electronics used in the US Digital encoders. Description Color (typical) Ground Brown or Black No Connection... -
Page 35: Manual Move
The Manual Move Unit Amount (u) register controls how far the servo moves with each button press. The servo mode must be OFF and the servo tuning registers properly set for this function to work. Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com... -
Page 36: Appendix D: Example Applications
(input dead band, control curve, mixing). Use the following commands to return to the factory default configuration: @0sQ1 See Factory Preset under Internal Register Descriptions, for complete details. Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com Users Guide... -
Page 37: Giant R/C Servo
Set Up & Tuning Because of the power available in the RS160D, it is recommended one use quality precision wire wound multi-turn potentiometers for the feedback mechanism. A typical unit would be a 5 turn, 10k pot (Bourns 3590S-02-103). - Page 38 Either the motor or the feedback potentiometer is connected in reverse; fix this problem and try again. Because the servo mode was not saved the RS160D will power up in a safe mode allowing changes.
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Page 39: Cnc (Stepper Motor) Servo
CNC Step control advances the position set point +/- one count for each 0 to 5v step input. 0v direction = reverse, 5v direction = forward. Three channels of CNC control are available on the RS160D with the addition of a third OSMC motor driver board. Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com... - Page 40 U register (unit amount, manual move). The following error output is only enabled when CNC is selected as the input mode. Robot-Solutions 2005 RS160D-Servo www.robot-solutions.com...
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