RoboteQ Dual Channel Digital Motor Controller AX2550 Manuals

Manuals and User Guides for RoboteQ Dual Channel Digital Motor Controller AX2550. We have 3 RoboteQ Dual Channel Digital Motor Controller AX2550 manuals available for free PDF download: User Manual, Quick Start Manual

RoboteQ Dual Channel Digital Motor Controller AX2550 User Manual (200 pages)

Dual Channel High Power Digital Motor Controller

Brand: RoboteQ | Category: Control Unit | Size: 3 MB

Revision History
3
What You will Need
15
Locating the Switches, Wires and Connectors
15
Connecting to the Batteries and Motors
17
Connecting to the 15-Pin Connector
18
Connecting the R/C Radio
19
Powering on the Controller
20
Button Operation
20
Default Controller Configuration
21
Connecting the Controller to Your PC Using Roborun
22
Obtaining the Controller's Software Revision Number
23
Exploring Further
24
Product Description
25
SECTION 3 AX2550 Motor Controller Overview
26
Technical Features
26
SECTION 4 Connecting Power and Motors to the Controller
29
Power Connections
29
Controller Power
30
Controller Powering Schemes
32
- Powering the Controller from a Single Battery
  32
- Powering the Controller Using a Main and Backup Battery
  33
Connecting the Motors
34
Single Channel Operation
35
- Converting the AX2550 to Single Channel
  35
Power Fuses
36
Wire Length Limits
37
Electrical Noise Reduction Techniques
37
Power Regeneration Considerations
37
Overvoltage Protection
38
Undervoltage Protection
38
Using the Controller with a Power Supply
39
SECTION 5 General Operation
41
Basic Operation
41
Input Command Modes
41
Selecting the Motor Control Modes
42
User Selected Current Limit Settings
44
Temperature-Based Current Limitation
44
Battery Current Vs. Motor Current
45
Regeneration Current Limiting
46
Programmable Acceleration
47
Command Control Curves
48
Left / Right Tuning Adjustment
49
Activating Brake Release or Separate Motor Excitation
51
Emergency Shut down Using Controller Switches
51
Emergency Stop Using External Switch
51
Inverted Operation
52
Special Use of Accessory Digital Inputs
52
- Using the Inputs to Activate the Buffered Output
  52
- Using the Inputs to Turn Off/On the Power MOSFET Transistors
  52
Self-Test Mode
53
SECTION 6 Connecting Sensors and Actuators to Input/Outputs
55
AX2550 Connections
55
Ax2550'S Inputs and Outputs
57
I/O List and Pin Assignment
58
Connecting Devices to Output C
59
Connecting Switches or Devices to Input E
60
Connecting Switches or Devices to Input F
61
Connecting Switches or Devices to Estop/Invert Input
62
Analog Inputs
63
Connecting Position Potentiometers to Analog Inputs
63
Connecting Tachometer to Analog Inputs
64
Connecting External Thermistor to Analog Inputs
66
Using the Analog Inputs to Monitor External Voltages
67
Connecting User Devices to Analog Inputs
67
Internal Voltage Monitoring Sensors
68
Internal Heatsink Temperature Sensors
68
Temperature Conversion C Source Code
69
SECTION 7 Installing, Connecting and Using the Encoder Module
71
Optical Incremental Encoders Overview
71
Recommended Encoder Types
72
Installing the Encoder Module
73
Connecting the Encoder
75
Cable Length and Noise Considerations
76
Motor - Encoder Polarity Matching
76
Voltage Levels, Thresholds and Limit Switches
76
Wiring Optional Limit Switches
78
Wiring Limit Switches Without Encoders
79
Effect of Limit Switches
79
Using the Encoder Module to Measure Distance
80
Using the Encoder to Measure Speed
80
Using the Encoder to Track Position
81
RS232 Communication with the Encoder Module
82
Encoder Testing and Setting Using the PC Utility
83
SECTION 8 Closed Loop Position Mode
85
Selecting the Position Mode
85
Mode Description
85
Position Sensor Selection
86
Sensor Mounting
86
Feedback Potentiometer Wiring
87
Analog Feedback on Single Channel Controllers
89
Using Optical Encoders in Position Mode
90
Sensor and Motor Polarity
90
Encoder Error Detection and Protection
91
Adding Safety Limit Switches
91
Control Loop Description
93
Using Current Limiting as Protection
93
PID Tuning in Position Mode
94
SECTION 9 Closed Loop Speed Mode
97
Mode Description
97
Selecting the Speed Mode
97
Tachometer or Encoder Mounting
98
Tachometer Wiring
98
Using Optical Encoder for Speed Feedback (AX2850 Only)
98
Speed Sensor and Motor Polarity
99
Adjust Offset and Max Speed
100
Control Loop Description
100
PID Tuning in Speed Mode
102
Fault Condition LED Messages
103
Use of the LED Display
103
Motor Direction Status
104
Fault Messages
105
- No Control
  105
- Temporary Faults
  106
- Permanent Faults
  106
Self-Test Display
106
- SECTION 11 R/C Operation
  109
- Mode Description
  109
Selecting the R/C Input Mode
110
Connector I/O Pin Assignment (R/C Mode)
110
R/C Input Circuit Description
111
Supplied Cable Description
111
Powering the Radio from the Controller
112
Connecting to a Separately Powered Radio
114
Operating the Controller in R/C Mode
114
Reception Watchdog
115
R/C Transmitter/Receiver Quality Considerations
116
Joystick Deadband Programming
117
Command Control Curves
118
Left/Right Tuning Adjustment
118
Joystick Calibration
118
Automatic Joystick Calibration
119
Activating the Accessory Outputs
120
Data Logging in R/C Mode
121
- SECTION 12 Analog Control and Operation
  123
- Mode Description
  123
Connector I/O Pin Assignment (Analog Mode)
124
Connecting to a Voltage Source
125
Connecting a Potentiometer
125
Selecting the Potentiometer Value
126
Analog Deadband Adjustment
127
Power-On Safety
128
Under Voltage Safety
128
Data Logging in Analog Mode
128
SECTION 13 Serial (RS-232) Controls and Operation
131
Use and Benefits of RS232
131
Connector I/O Pin Assignment (RS232 Mode)
132
Cable Configuration
133
Extending the RS232 Cable
133
Communication Settings
134
Establishing Manual Communication with a PC
134
Commands Acknowledge and Error Messages
137
- Character Echo
  137
- Command Acknowledgement
  137
- Command Error
  137
- Watchdog Time-Out
  137
RS-232 Watchdog
138
Controller Commands and Queries
138
- Set Motor Command Value
  139
- Set Accessory Output
  139
- Query Power Applied to Motors
  140
- Query Amps from Battery to each Motor Channel
  140
- Query Analog Inputs
  140
- Query Heatsink Temperatures
  141
- Query Battery Voltages
  141
- Query Digital Inputs
  142
- Reset Controller
  142
Accessing & Changing Configuration Parameter in Flash
143
- Apply Parameter Changes
  143
- Flash Configuration Parameters List
  144
- Input Control Mode
  145
- Motor Control Mode
  145
- Amps Limit
  146
- Acceleration
  147
- Input Switches Function
  147
- RC Joystick or Analog Deadband
  148
- Exponentiation on Channel 1 and Channel 2
  148
- Left/Right Adjust
  149
- Default Encoder Time Base 1 and 2
  149
- Default Encoder Distance Divider
  150
- Default PID Gains
  150
- Joystick Min, Max and Center Values
  150
Reading & Changing Operating Parameters at Runtime
151
- Operating Modes Registers
  152
- Read/Change PID Values
  152
- PWM Frequency Register
  153
- Controller Status Register
  153
- Controller Identification Register
  154
- Current Amps Limit Registers
  154
RS232 Encoder Command Set
155
- Read Encoder Counter
  155
- Set/Reset Encoder Counters and Destination Registers
  155
- Read Speed
  156
- Read Distance
  157
- Read Speed/Distance
  157
- Read Encoder Limit Switch Status
  157
- Read / Modify Encoder Module Registers and Parameters
  158
Register Description
160
- Encoder Hardware ID Code
  160
- Switch Status
  160
- Speed or Distance 1 or 2
  160
- Counter Read/Write Mailbox
  161
- Counter 1 and
  161
- Destination Register 1 and 2
  161
- Distance 1 and 2
  162
- Encoder Threshold
  162
- Distance Divider
  162
Encoder Testing and Setting Using the PC Utility
163
Counter Read Data Format
163
Automatic Switching from RS232 to RC Mode
165
Analog and R/C Modes Data Logging String Format
166
Data Logging Cables
166
Decimal to Hexadecimal Conversion Table
167
SECTION 14 Configuring the Controller Using the Switches
171
Programming Methods
171
Programming Using Built-In Switches and Display
171
- Entering Programming Mode
  172
- Changing Parameters
  173
- The Special Case of Joystick Calibration
  173
- Restoring Factory Defaults
  173
- Exiting the Parameter Setting Mode
  174
Programmable Parameters List
174
SECTION 15 Using the Roborun Configuration Utility
177
System Requirements
177
Downloading and Installing the Utility
177
Connecting the Controller to the PC
178
Roborun Frame, Tab and Menu Descriptions
179
Getting On-Screen Help
180
Loading, Changing Controller Parameters
181
- Control Settings
  181
- Power Settings
  182
- Analog or R/C Specific Settings
  183
- Closed Loop Parameters
  184
Encoder Setting and Testing
184
- Encoder Module Parameters Setting
  185
- Exercising the Motors
  186
- Viewing Encoder Data
  186
Running the Motors
186
- Logging Data to Disk
  189
- Connecting a Joystick
  190
Using the Console
191
Viewing and Logging Data in Analog and R/C Modes
192
Loading and Saving Profiles to Disk
192
Operating the AX2550 over a Wired or Wireless LAN
193
Updating the Controller's Software
194
- Updating the Encoder Software
  195
Creating Customized Object Files
195
SECTION 16 Mechanical Specifications
197
Mechanical Dimensions
197
Mounting Considerations
198
Thermal Considerations
199
Attaching the Controller Directly to a Chassis
199
Wire Dimensions
199
Weight
200

RoboteQ Dual Channel Digital Motor Controller AX2550 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
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
Controller Powering Schemes
30
- Powering the Controller from a Single Battery
  30
- Powering the Controller Using a Main and Backup Battery
  31
Connecting the Motors
32
Single Channel Operation
33
- Converting the AX1500 to Single Channel
  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
Special Use of Accessory Digital Inputs
50
- Using the Inputs to Activate the Buffered Output
  50
  - Using the Inputs to Turn Off/On the Power MOSFET Transistors
    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
Using the Encoder to Track Position
77
- RS232 Communication with the Encoder Module
  78
Encoder Testing and Setting Using the PC Utility
79
- Mode Description
  81
- SECTION 8 Closed Loop Position Mode
  81
Selecting the Position Mode
81
Position Sensor Selection
82
Sensor Mounting
82
Feedback Potentiometer Wiring
83
Analog Feedback on Single Channel Controllers
85
Using Optical Encoders in Position Mode
86
Sensor and Motor Polarity
86
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
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
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
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
- Character Echo
  127
- Command Acknowledgement
  127
- Command Error
  127
- Watchdog Time-Out
  127
RS-232 Watchdog
128
Controller Commands and Queries
128
- Set Motor Command Value
  129
- Set Accessory Output
  129
- Query Power Applied to Motors
  130
- Query Amps from Battery to each Motor Channel
  130
- Query Analog Inputs
  131
- Query Heatsink Temperatures
  131
- Query Battery Voltages
  131
- Query Digital Inputs
  132
- Reset Controller
  132
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
- Acceleration
  137
- Input Switches Function
  137
- RC Joystick or Analog Deadband
  138
- Exponentiation on Channel 1 and Channel 2
  138
- Left/Right Adjust
  139
- Default Encoder Time Base 1 and 2
  139
- Default Encoder Distance Divider
  140
- Default PID Gains
  140
- Joystick Min, Max and Center Values
  140
Reading & Changing Operating Parameters at Runtime
141
- Operating Modes Registers
  142
- Read/Change PID Values
  142
- PWM Frequency Register
  143
- Controller Status Register
  143
  - Controller Identification Register
    144
  - Current Amps Limit Registers
    144
RS232 Encoder Command Set
145
- Read Encoder Counter
  145
- Set/Reset Encoder Counters and Destination Registers
  145
- Read Speed
  146
- Read Distance
  147
- Read Speed/Distance
  147
- Read Encoder Limit Switch Status
  147
- Read / Modify Encoder Module Registers and Parameters
  148
Register Description
150
- Encoder Hardware ID Code
  150
- Switch Status
  150
- Speed or Distance 1 or 2
  150
- Counter Read/Write Mailbox
  151
- Counter 1 and
  151
- Destination Register 1 and 2
  151
- Distance 1 and 2
  152
- Encoder Threshold
  152
- Distance Divider
  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
- System Requirements
  161
Downloading and Installing the Utility
161
Connecting the Controller to the PC
162
Roborun Frame, Tab and Menu Descriptions
163
Getting On-Screen Help
164
Loading, Changing Controller Parameters
164
- Control Settings
  165
- Power Settings
  166
- Analog or R/C Specific Settings
  167
- Closed Loop Parameters
  168
Encoder Setting and Testing
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

RoboteQ Dual Channel Digital Motor Controller AX2550 Quick Start Manual (13 pages)

Dual Channel High Power Digital Motor Controller

Brand: RoboteQ | Category: Controller | Size: 1 MB

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