RoboteQ AX2550 Manual Do Utilizador
AX1500 Motor Controller User’s Manual
95
Speed Sensor and Motor Polarity
Speed Sensor and Motor Polarity
The tachometer or encoder polarity (i.e. which rotation direction produces a positive of
negative speed information) is related to the motor’s rotation speed and the direction the
motor turns when power is applied to it.
negative speed information) is related to the motor’s rotation speed and the direction the
motor turns when power is applied to it.
In the Closed Loop Speed mode, the controller compares the actual speed, as measured
by the tachometer, to the desired speed. If the motor is not at the desired speed and direc-
tion, the controller will apply power to the motor so that it turns faster or slower, until
reached.
by the tachometer, to the desired speed. If the motor is not at the desired speed and direc-
tion, the controller will apply power to the motor so that it turns faster or slower, until
reached.
Important Warning:
If there is a polarity mismatch, the motor will turn in the wrong direction and the
speed will never be reached. The motor will turn continuously at full speed with no
way of stopping it other than cutting the power or hitting the Emergency Stop but-
tons.
speed will never be reached. The motor will turn continuously at full speed with no
way of stopping it other than cutting the power or hitting the Emergency Stop but-
tons.
Determining the right polarity is best done experimentally using the Roborun utility (see
“Using the Roborun Configuration Utility” on page 161) and following these steps:
“Using the Roborun Configuration Utility” on page 161) and following these steps:
1. Disconnect the controller’s Motor Power.
2. Configure the controller in Open Loop Mode using the PC utility. This will cause the
motors to run in Open Loop for now.
3. Launch the Roborun utility and click on the Run tab. Click the “Start” button to
begin communication with the controller. The tachometer values will be displayed
in the appropriate Analog input value boxe(s) which will be labeled Ana 1 and Ana 2.
If encoders are used, look for the reported speed value in the Enc boxes.
in the appropriate Analog input value boxe(s) which will be labeled Ana 1 and Ana 2.
If encoders are used, look for the reported speed value in the Enc boxes.
4. Verify that the motor sliders are in the “0” (Stop) position.
5. If a tachometer is used, verify that the measured speed value read is 0 when the
motors are stopped. If not, trim the “0” offset potentiometer.
6. Apply power to the Motor Power wires. The motor will be stopped.
7.
Move the cursor of the desired motor to the right so that the motor starts rotating,
and verify that a positive speed is reported. Move the cursor to the left and verify
that a negative speed is reported.
and verify that a positive speed is reported. Move the cursor to the left and verify
that a negative speed is reported.
8. If the tachometer or encoder polarity is the same as the applied command, the wir-
ing is correct.
9. If the tachometer polarity is opposite of the command polarity, then either reverse
the motor’s wiring, or reverse the tachometer wires. If an encoder is used, swap its
CHA and ChB outputs
CHA and ChB outputs
10. If a tachometer is used, proceed to calibrate the Max Closed Loop speed.
11. Set the controller parameter to the desired Closed Loop Speed mode using the
Roborun utility.