RoboteQ Dual Channel Digital Motor Controller AX1500 Manuals

Manuals and User Guides for RoboteQ Dual Channel Digital Motor Controller AX1500. We have 1 RoboteQ Dual Channel Digital Motor Controller AX1500 manual available for free PDF download: User Manual

RoboteQ Dual Channel Digital Motor Controller AX1500 User Manual (186 pages)

Dual Channel Digital Motor Controller

Brand: RoboteQ | Category: Controller | Size: 3 MB

Revision History
3
What You will Need
15
Locating the Connectors
15
Connecting to the Batteries and Motors
17
Important Warning
18
Connecting to the 15-Pin Connector
18
Connecting the R/C Radio
19
Powering on the Controller
20
Default Controller Configuration
20
Connecting the Controller to Your PC Using Roborun
21
Obtaining the Controller's Software Revision Number
22
Exploring Further
22
Product Description
23
SECTION 3 AX1500 Motor Controller Overview
24
Technical Features
24
SECTION 4 Connecting Power and Motors to the Controller
27
Power Connections
27
Controller Power
28
- Powering the Controller from a Single Battery
  30
Controller Powering Schemes
30
- Powering the Controller Using a Main and Backup Battery
  31
Connecting the Motors
32
- Converting the AX1500 to Single Channel
  33
Single Channel Operation
33
Power Fuses
34
Wire Length Limits
34
Electrical Noise Reduction Techniques
35
Power Regeneration Considerations
35
Overvoltage Protection
36
Undervoltage Protection
36
Using the Controller with a Power Supply
36
SECTION 5 General Operation
39
Basic Operation
39
Input Command Modes
39
Selecting the Motor Control Modes
40
User Selected Current Limit Settings
42
Temperature-Based Current Limitation
42
Battery Current Vs. Motor Current
43
Regeneration Current Limiting
44
Programmable Acceleration
45
Command Control Curves
46
Left / Right Tuning Adjustment
47
Activating Brake Release or Separate Motor Excitation
49
Emergency Stop Using External Switch
49
Inverted Operation
49
- Using the Inputs to Activate the Buffered Output
  50
- Using the Inputs to Turn Off/On the Power MOSFET Transistors
  50
Special Use of Accessory Digital Inputs
50
SECTION 6 Connecting Sensors and Actuators to Input/Outputs
51
AX1500 Connections
51
Ax1500'S Inputs and Outputs
52
I/O List and Pin Assignment
54
Connecting Devices to Output C
55
Connecting Switches or Devices to Input E
56
Connecting Switches or Devices to Input F
56
Connecting Switches or Devices to Estop/Invert Input
57
Analog Inputs
58
Connecting Position Potentiometers to Analog Inputs
58
Connecting Tachometer to Analog Inputs
59
Connecting External Thermistor to Analog Inputs
61
Using the Analog Inputs to Monitor External Voltages
62
Connecting User Devices to Analog Inputs
63
Internal Voltage Monitoring Sensors
63
Internal Heatsink Temperature Sensors
63
- Temperature Conversion C Source Code
  64
- SECTION 7 Installing, Connecting and Using the Encoder Module
  67
Optical Incremental Encoders Overview
67
Recommended Encoder Types
68
Installing the Encoder Module
69
Connecting the Encoder
70
Cable Length and Noise Considerations
71
Motor - Encoder Polarity Matching
72
Voltage Levels, Thresholds and Limit Switches
72
Wiring Optional Limit Switches
73
Wiring Limit Switches Without Encoders
75
Effect of Limit Switches
75
Using the Encoder Module to Measure Distance
76
Using the Encoder to Measure Speed
76
- Important Notice
  77
- RS232 Communication with the Encoder Module
  78
Using the Encoder to Track Position
77
Encoder Testing and Setting Using the PC Utility
79
- SECTION 8 Closed Loop Position Mode
  81
- Mode Description
  81
Selecting the Position Mode
81
Position Sensor Selection
82
Sensor Mounting
82
- Feedback Potentiometer Wiring in RC or RS232 Mode
  83
Feedback Potentiometer Wiring
83
- Feedback Potentiometer Wiring in Analog Mode
  84
  - Feedback Wiring in RC or RS232 Mode on Single Channel Controllers
    85
  - Feedback Wiring in Analog Mode on Single Channel Controllers
    85
Analog Feedback on Single Channel Controllers
85
Important Warning
86
Using Optical Encoders in Position Mode
86
Sensor and Motor Polarity
86
Important Safety Warning
87
Encoder Error Detection and Protection
87
Adding Safety Limit Switches
87
Control Loop Description
89
Using Current Limiting as Protection
89
PID Tuning in Position Mode
90
- SECTION 9 Closed Loop Speed Mode
  93
- Using Optical Encoder for Speed Feedback
  93
Mode Description
93
Selecting the Speed Mode
93
Tachometer or Encoder Mounting
94
Tachometer Wiring
94
Speed Sensor and Motor Polarity
95
Adjust Offset and Max Speed
96
Control Loop Description
96
PID Tuning in Speed Mode
97
Fault Condition LED Messages
99
Power on LED
99
Diagnostic LED
99
Normal Operation Flashing Pattern
99
Output off / Fault Condition
100
- Mode Description
  101
- SECTION 11 R/C Operation
  101
Selecting the R/C Input Mode
102
Connector I/O Pin Assignment (R/C Mode)
102
R/C Input Circuit Description
103
Supplied Cable Description
103
Powering the Radio from the Controller
104
Connecting to a Separately Powered Radio
106
Operating the Controller in R/C Mode
106
Reception Watchdog
107
Important Notice about PCM Radios
108
R/C Transmitter/Receiver Quality Considerations
108
Joystick Deadband Programming
108
Command Control Curves
109
Left/Right Tuning Adjustment
110
Joystick Calibration
110
Activating the Accessory Outputs
110
Data Logging in R/C Mode
111
- SECTION 12 Analog Control and Operation
  113
- Mode Description
  113
- Important Notice
  113
Connector I/O Pin Assignment (Analog Mode)
114
Connecting to a Voltage Source
115
Connecting a Potentiometer
115
Selecting the Potentiometer Value
116
Analog Deadband Adjustment
117
Power-On Safety
118
Under Voltage Safety
118
Data Logging in Analog Mode
118
SECTION 13 Serial (RS-232) Controls and Operation
121
Use and Benefits of RS232
121
Connector I/O Pin Assignment (RS232 Mode)
122
Cable Configuration
123
Extending the RS232 Cable
123
Communication Settings
124
Establishing Manual Communication with a PC
124
Commands Acknowledge and Error Messages
127
- Command Acknowledgement
  127
- RS232 Mode if Default
  127
- Watchdog Time-Out
  127
- Character Echo
  127
- Command Error
  127
RS-232 Watchdog
128
- Set Motor Command Value
  129
- Set Accessory Output
  129
- Query Amps from Battery to each Motor Channel
  130
- Query Power Applied to Motors
  130
- Query Heatsink Temperatures
  131
- Query Battery Voltages
  131
- Query Analog Inputs
  131
- Query Digital Inputs
  132
- Reset Controller
  132
Controller Commands and Queries
128
Accessing & Changing Configuration Parameter in Flash
133
- Apply Parameter Changes
  133
- Flash Configuration Parameters List
  134
- Input Control Mode
  135
- Motor Control Mode
  135
- Amps Limit
  136
- Input Switches Function
  137
- Acceleration
  137
- Exponentiation on Channel 1 and Channel 2
  138
- RC Joystick or Analog Deadband
  138
- Default Encoder Time Base 1 and 2
  139
- Left/Right Adjust
  139
- Default Encoder Distance Divider
  140
- Joystick Min, Max and Center Values
  140
- Default PID Gains
  140
Reading & Changing Operating Parameters at Runtime
141
- Operating Modes Registers
  142
- Read/Change PID Values
  142
- Controller Status Register
  143
- PWM Frequency Register
  143
RS232 Encoder Command Set
145
- Read Encoder Counter
  145
- Read Speed
  146
- Read Encoder Limit Switch Status
  147
- Read Speed/Distance
  147
- Read Distance
  147
- Read / Modify Encoder Module Registers and Parameters
  148
- Important Note
  148
Register Description
150
- Encoder Hardware ID Code
  150
- Switch Status
  150
- Speed or Distance 1 or 2
  150
- Important Warning
  150
- Destination Register 1 and 2
  151
- Counter Read/Write Mailbox
  151
- Counter 1 and
  151
- Encoder Threshold
  152
- Distance Divider
  152
- Distance 1 and 2
  152
- Encoder Testing and Setting Using the PC Utility
  153
Counter Read Data Format
153
Automatic Switching from RS232 to RC Mode
155
Analog and R/C Modes Data Logging String Format
156
Data Logging Cables
156
Decimal to Hexadecimal Conversion Table
157
SECTION 14 Using the Roborun Configuration Utility
161
Downloading and Installing the Utility
161
- System Requirements
  161
Connecting the Controller to the PC
162
Roborun Frame, Tab and Menu Descriptions
163
Getting On-Screen Help
164
- Control Settings
  165
- Power Settings
  166
- Analog or R/C Specific Settings
  167
Loading, Changing Controller Parameters
164
Encoder Setting and Testing
168
- Closed Loop Parameters
  168
- Encoder Module Parameters Setting
  169
- Exercising the Motors
  170
- Viewing Encoder Data
  170
Running the Motors
170
- Logging Data to Disk
  173
- Connecting a Joystick
  174
Using the Console
174
Viewing and Logging Data in Analog and R/C Modes
176
Loading and Saving Profiles to Disk
176
Operating the AX1500 over a Wired or Wireless LAN
176
Updating the Controller's Software
178
- Updating the Encoder Software
  178
Creating Customized Object Files
179
SECTION 15 Mechanical Specifications
181
Mechanical Dimensions
181
Mounting Considerations
182
Thermal Considerations
182
Attaching the Controller Directly to a Chassis
183
- Precautions to Observe
  184
Wire Dimensions
185
Weight
185

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RoboteQ Dual Channel Digital Motor Controller AX1500 Manuals

RoboteQ Dual Channel Digital Motor Controller AX1500 User Manual (186 pages)

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