BenutzerhandbuchInhaltsverzeichnisRevision History3SECTION 1 Important Safety Warnings13Read this Section First13This product is intended for use with rechargeable batteries13Avoid Shorts when Mounting Board against Chassis13Do not Connect to a RC Radio with a Battery Attached13Beware of Motor Runaway in Improperly Closed Loop13SECTION 2 AX1500 Quick Start15What you will need15Locating the Connectors15Connecting to the Batteries and Motors17Important Warning18Important Warning18Connecting to the 15-pin Connector18Connecting the R/C Radio19Important Warning19Powering On the Controller20Default Controller Configuration20Connecting the controller to your PC using Roborun21Obtaining the Controller’s Software Revision Number22Exploring further22SECTION 3 AX1500 Motor Controller Overview23Product Description23Technical features24SECTION 4 Connecting Power and Motors to the Controller27Important Warning27Power Connections27Controller Power28Controller Powering Schemes30Powering the Controller from a single Battery30Important Warning31Powering the Controller Using a Main and Backup Battery31Important Warning32Connecting the Motors32Important Warning32Single Channel Operation33Converting the AX1500 to Single Channel33Power Fuses34Important Warning34Wire Length Limits34Important Warning35Electrical Noise Reduction Techniques35Power Regeneration Considerations35Important Warning36Important Warning36Overvoltage Protection36Undervoltage Protection36Using the Controller with a Power Supply36SECTION 5 General Operation39Basic Operation39Input Command Modes39Selecting the Motor Control Modes40Open Loop, Separate Speed Control40Open Loop, Mixed Speed Control40Closed Loop Speed Control41Close Loop Position Control41User Selected Current Limit Settings42Temperature-Based Current Limitation42Battery Current vs. Motor Current43Important Warning44Regeneration Current Limiting44Programmable Acceleration45Important Warning46Command Control Curves46Left / Right Tuning Adjustment47Activating Brake Release or Separate Motor Excitation49Emergency Stop using External Switch49Inverted Operation49Special Use of Accessory Digital Inputs50Using the Inputs to Activate the Buffered Output50Using the Inputs to turn Off/On the Power MOSFET transistors50SECTION 6 Connecting Sensors and Actuators to Input/Outputs51AX1500 Connections51AX1500’s Inputs and Outputs52I/O List and Pin Assignment54Connecting devices to Output C55Important warning:56Connecting Switches or Devices to Input E56Connecting Switches or Devices to Input F56Connecting Switches or Devices to EStop/Invert Input57Analog Inputs58Connecting Position Potentiometers to Analog Inputs58Important Warning59Connecting Tachometer to Analog Inputs59Important Warning60Connecting External Thermistor to Analog Inputs61Using the Analog Inputs to Monitor External Voltages62Connecting User Devices to Analog Inputs63Internal Voltage Monitoring Sensors63Internal Heatsink Temperature Sensors63SECTION 7 Installing, Connecting and Using the Encoder Module67Optical Incremental Encoders Overview67Recommended Encoder Types68Installing the Encoder Module69Connecting the Encoder70Cable Length and Noise Considerations71Important Warning72Motor - Encoder Polarity Matching72Voltage Levels, Thresholds and Limit Switches72Important Warning73Wiring Optional Limit Switches73Wiring Limit Switches Without Encoders75Effect of Limit Switches75Using the Encoder Module to Measure Distance76Using the Encoder to Measure Speed76Important Notice77Using the Encoder to Track Position77Important Notice78RS232 Communication with the Encoder Module78Encoder Testing and Setting Using the PC Utility79SECTION 8 Closed Loop Position Mode81Mode Description81Selecting the Position Mode81Position Sensor Selection82Sensor Mounting82Important Notice:83Feedback Potentiometer wiring83Feedback Potentiometer wiring in RC or RS232 Mode83Feedback Potentiometer wiring in Analog Mode84Important Notice84Analog Feedback on Single Channel Controllers85Feedback Wiring in RC or RS232 Mode on Single Channel Controllers85Feedback Wiring in Analog Mode on Single Channel Controllers85Important Notice85Using Optical Encoders in Position Mode86Sensor and Motor Polarity86Important Warning:86Important Safety Warning87Encoder Error Detection and Protection87Adding Safety Limit Switches87Important Warning89Using Current Limiting as Protection89Control Loop Description89PID tuning in Position Mode90SECTION 9 Closed Loop Speed Mode93Mode Description93Selecting the Speed Mode93Tachometer or Encoder Mounting94Tachometer wiring94Speed Sensor and Motor Polarity95Important Warning:95Adjust Offset and Max Speed96Important Warning:96Control Loop Description96PID tuning in Speed Mode97SECTION 10 Normal and Fault Condition LED Messages99Power On LED99Diagnostic LED99Normal Operation Flashing Pattern99Output Off / Fault Condition100SECTION 11 R/C Operation101Mode Description101Selecting the R/C Input Mode102Connector I/O Pin Assignment (R/C Mode)102R/C Input Circuit Description103Supplied Cable Description103Powering the Radio from the controller104Important Warning105Connecting to a Separately Powered Radio106Operating the Controller in R/C mode106Reception Watchdog107Important Notice about PCM Radios108R/C Transmitter/Receiver Quality Considerations108Joystick Deadband Programming108Command Control Curves109Left/Right Tuning Adjustment110Joystick Calibration110Activating the Accessory Outputs110Data Logging in R/C Mode111SECTION 12 Analog Control and Operation113Mode Description113Important Notice113Connector I/O Pin Assignment (Analog Mode)114Connecting to a Voltage Source115Connecting a Potentiometer115Important Notice116Selecting the Potentiometer Value116Analog Deadband Adjustment117Important Notice118Power-On Safety118Under Voltage Safety118Data Logging in Analog Mode118SECTION 13 Serial (RS-232) Controls and Operation121Use and benefits of RS232121Connector I/O Pin Assignment (RS232 Mode)122Cable configuration123Extending the RS232 Cable123Communication Settings124Establishing Manual Communication with a PC124RS232 Communication with the Encoder Module125Entering RS232 from R/C or Analog mode126Data Logging String in R/C or Analog mode126RS232 Mode if default127Commands Acknowledge and Error Messages127Character Echo127Command Acknowledgement127Command Error127Watchdog time-out127RS-232 Watchdog128Controller Commands and Queries128Set Motor Command Value129Set Accessory Output129Query Power Applied to Motors130Query Amps from Battery to each Motor Channel130Important Notice130Important Notice130Query Analog Inputs131Query Heatsink Temperatures131Query Battery Voltages131Query Digital Inputs132Reset Controller132Accessing & Changing Configuration Parameter in Flash133Apply Parameter Changes133Flash Configuration Parameters List134Important Notice135Input Control Mode135Motor Control Mode135Amps Limit136Acceleration137Input Switches Function137RC Joystick or Analog Deadband138Exponentiation on Channel 1 and Channel 2138Left/Right Adjust139Default Encoder Time Base 1 and 2139Default Encoder Distance Divider140Default PID Gains140Joystick Min, Max and Center Values140Reading & Changing Operating Parameters at Runtime141Important Notice:142Operating Modes Registers142Read/Change PID Values142PWM Frequency Register143Controller Status Register143Controller Identification Register144Current Amps Limit Registers144RS232 Encoder Command Set145Read Encoder Counter145Set/Reset Encoder Counters and Destination Registers145Read Speed146Read Distance147Read Speed/Distance147Read Encoder Limit Switch Status147Read / Modify Encoder Module Registers and Parameters148Important Note148Important Warning150Register Description150Encoder Hardware ID code150Switch Status150Speed or Distance 1 or 2150Counter Read/Write Mailbox151Counter 1 and 2151Destination Register 1 and 2151Distance 1 and 2152Speed 1 and 2152Time Base 1 and 2152Encoder Threshold152Distance Divider152Counter Read Data Format153Encoder Testing and Setting Using the PC Utility153Automatic Switching from RS232 to RC Mode155Analog and R/C Modes Data Logging String Format156Data Logging Cables156Decimal to Hexadecimal Conversion Table157SECTION 14 Using the Roborun Configuration Utility161System Requirements161Downloading and Installing the Utility161Connecting the Controller to the PC162Roborun Frame, Tab and Menu Descriptions163Getting On-Screen Help164Loading, Changing Controller Parameters164Control Settings165Power Settings166Analog or R/C Specific Settings167Closed Loop Parameters168Encoder Setting and Testing168Encoder Module Parameters Setting169Exercising the Motors170Viewing Encoder Data170Running the Motors170Logging Data to Disk173Connecting a Joystick174Using the Console174Viewing and Logging Data in Analog and R/C Modes176Loading and Saving Profiles to Disk176Operating the AX1500 over a Wired or Wireless LAN176Updating the Controller’s Software178Important Warning178Updating the Encoder Software178Important Warning178Creating Customized Object Files179SECTION 15 Mechanical Specifications181Mechanical Dimensions181Mounting Considerations182Thermal Considerations182Attaching the Controller Directly to a Chassis183Precautions to observe184Wire Dimensions185Weight185Größe: 3,36 MBSeiten: 186Language: EnglishHandbuch öffnen
