Manuel D’UtilisationTable des matièresRevision History3SECTION 1 Important Safety Warnings13Read this Section First13This product is intended for use with rechargeable batteries13Do not Connect to a RC Radio with a Battery Attached13Beware of Motor Runaway in Improperly Closed Loop13SECTION 2 AX2550 Quick Start15What you will need15Locating the Switches, Wires and Connectors15Connecting to the Batteries and Motors17Important Warning18Important Warning18Connecting to the 15-pin Connector18Connecting the R/C Radio19Important Warning19Powering On the Controller20Button Operation20Default Controller Configuration21Connecting the controller to your PC using Roborun22Obtaining the Controller’s Software Revision Number23Exploring further24SECTION 3 AX2550 Motor Controller Overview25Product Description25Technical features26SECTION 4 Connecting Power and Motors to the Controller29Important Warning29Power Connections29Controller Power30Controller Powering Schemes32Powering the Controller from a single Battery32Important Warning33Important Warning33Important Warning33Powering the Controller Using a Main and Backup Battery33Important Warning34Connecting the Motors34Important Warning34Single Channel Operation35Converting the AX2550 to Single Channel35Power Fuses36Important Warning36Wire Length Limits37Important Warning37Electrical Noise Reduction Techniques37Power Regeneration Considerations37Important Warning38Important Warning38Overvoltage Protection38Undervoltage Protection38Using the Controller with a Power Supply39SECTION 5 General Operation41Basic Operation41Input Command Modes41Selecting the Motor Control Modes42Open Loop, Separate Speed Control42Open Loop, Mixed Speed Control42Closed Loop Speed Control43Close Loop Position Control43User Selected Current Limit Settings44Temperature-Based Current Limitation44Battery Current vs. Motor Current45Important Warning46Regeneration Current Limiting46Programmable Acceleration47Important Warning48Command Control Curves48Left / Right Tuning Adjustment49Activating Brake Release or Separate Motor Excitation51Emergency Shut Down Using Controller Switches51Emergency Stop using External Switch51Inverted Operation52Special Use of Accessory Digital Inputs52Using the Inputs to Activate the Buffered Output52Using the Inputs to turn Off/On the Power MOSFET transistors52Self-Test Mode53Important Warning54SECTION 6 Connecting Sensors and Actuators to Input/Outputs55AX2550 Connections55AX2550’s Inputs and Outputs57I/O List and Pin Assignment58Connecting devices to Output C59Important warning:60Connecting Switches or Devices to Input E60Connecting Switches or Devices to Input F61Connecting Switches or Devices to EStop/Invert Input62Analog Inputs63Connecting Position Potentiometers to Analog Inputs63Important Warning64Connecting Tachometer to Analog Inputs64Important Warning65Connecting External Thermistor to Analog Inputs66Using the Analog Inputs to Monitor External Voltages67Connecting User Devices to Analog Inputs67Internal Voltage Monitoring Sensors68Internal Heatsink Temperature Sensors68Temperature Conversion C Source Code69SECTION 7 Installing, Connecting and Using the Encoder Module71Optical Incremental Encoders Overview71Recommended Encoder Types72Installing the Encoder Module73Connecting the Encoder75Cable Length and Noise Considerations76Important Warning76Motor - Encoder Polarity Matching76Voltage Levels, Thresholds and Limit Switches76Important Warning78Wiring Optional Limit Switches78Wiring Limit Switches Without Encoders79Effect of Limit Switches79Using the Encoder Module to Measure Distance80Using the Encoder to Measure Speed80Important Notice81Using the Encoder to Track Position81Important Notice82RS232 Communication with the Encoder Module82Encoder Testing and Setting Using the PC Utility83SECTION 8 Closed Loop Position Mode85Mode Description85Selecting the Position Mode85Position Sensor Selection86Sensor Mounting86Important Notice:87Feedback Potentiometer wiring87Feedback Potentiometer wiring in RC or RS232 Mode87Feedback Potentiometer wiring in Analog Mode88Important Notice88Analog Feedback on Single Channel Controllers89Feedback Wiring in RC or RS232 Mode on Single Channel Controllers89Feedback Wiring in Analog Mode on Single Channel Controllers89Important Notice89Using Optical Encoders in Position Mode90Sensor and Motor Polarity90Important Warning:90Important Safety Warning91Encoder Error Detection and Protection91Adding Safety Limit Switches91Important Warning93Using Current Limiting as Protection93Control Loop Description93PID tuning in Position Mode94SECTION 9 Closed Loop Speed Mode97Mode Description97Selecting the Speed Mode97Using Optical Encoder for Speed Feedback (AX2850 only)98Tachometer or Encoder Mounting98Tachometer wiring98Speed Sensor and Motor Polarity99Important Warning:99Adjust Offset and Max Speed100Important Warning:100Control Loop Description100PID tuning in Speed Mode102SECTION 10 Normal and Fault Condition LED Messages103Use of the LED Display103Motor Direction Status104Fault Messages105No Control105Temporary Faults106Permanent Faults106Self-Test Display106SECTION 11 R/C Operation109Mode Description109Selecting the R/C Input Mode110Connector I/O Pin Assignment (R/C Mode)110R/C Input Circuit Description111Supplied Cable Description111Powering the Radio from the controller112Important Warning113Connecting to a Separately Powered Radio114Operating the Controller in R/C mode114Reception Watchdog115Important Notice about PCM Radios116R/C Transmitter/Receiver Quality Considerations116Joystick Deadband Programming117Command Control Curves118Left/Right Tuning Adjustment118Joystick Calibration118Automatic Joystick Calibration119Important Notice120Activating the Accessory Outputs120Data Logging in R/C Mode121SECTION 12 Analog Control and Operation123Mode Description123Important Notice123Connector I/O Pin Assignment (Analog Mode)124Connecting to a Voltage Source125Connecting a Potentiometer125Important Notice126Selecting the Potentiometer Value126Analog Deadband Adjustment127Important Notice128Power-On Safety128Under Voltage Safety128Data Logging in Analog Mode128SECTION 13 Serial (RS-232) Controls and Operation131Use and benefits of RS232131Connector I/O Pin Assignment (RS232 Mode)132Cable configuration133Extending the RS232 Cable133Communication Settings134Establishing Manual Communication with a PC134RS232 Communication with the Encoder Module135Entering RS232 from R/C or Analog mode136Data Logging String in R/C or Analog mode136RS232 Mode if default137Commands Acknowledge and Error Messages137Character Echo137Command Acknowledgement137Command Error137Watchdog time-out137RS-232 Watchdog138Controller Commands and Queries138Set Motor Command Value139Set Accessory Output139Query Power Applied to Motors140Query Amps from Battery to each Motor Channel140Important Notice140Query Analog Inputs140Query Heatsink Temperatures141Query Battery Voltages141Query Digital Inputs142Reset Controller142Accessing & Changing Configuration Parameter in Flash143Apply Parameter Changes143Flash Configuration Parameters List144Important Notice145Input Control Mode145Motor Control Mode145Amps Limit146Acceleration147Input Switches Function147RC Joystick or Analog Deadband148Exponentiation on Channel 1 and Channel 2148Left/Right Adjust149Default Encoder Time Base 1 and 2149Default Encoder Distance Divider150Default PID Gains150Joystick Min, Max and Center Values150Reading & Changing Operating Parameters at Runtime151Important Notice:152Operating Modes Registers152Read/Change PID Values152PWM Frequency Register153Controller Status Register153Controller Identification Register154Current Amps Limit Registers154RS232 Encoder Command Set155Read Encoder Counter155Set/Reset Encoder Counters and Destination Registers155Read Speed156Read Distance157Read Speed/Distance157Read Encoder Limit Switch Status157Read / Modify Encoder Module Registers and Parameters158Important Note158Important Warning160Register Description160Encoder Hardware ID code160Switch Status160Speed or Distance 1 or 2160Counter Read/Write Mailbox161Counter 1 and 2161Destination Register 1 and 2161Distance 1 and 2162Speed 1 and 2162Time Base 1 and 2162Encoder Threshold162Distance Divider162Counter Read Data Format163Encoder Testing and Setting Using the PC Utility163Automatic Switching from RS232 to RC Mode165Analog and R/C Modes Data Logging String Format166Data Logging Cables166Decimal to Hexadecimal Conversion Table167SECTION 14 Configuring the Controller using the Switches171Programming Methods171Programming using built-in Switches and Display171Entering Programming Mode172Important Warning172Changing parameters173The Special Case of Joystick Calibration173Restoring factory defaults173Exiting the Parameter Setting Mode174Programmable Parameters List174Important Notice174SECTION 15 Using the Roborun Configuration Utility177System Requirements177Downloading and Installing the Utility177Connecting the Controller to the PC178Roborun Frame, Tab and Menu Descriptions179Getting On-Screen Help180Loading, Changing Controller Parameters181Control Settings181Power Settings182Analog or R/C Specific Settings183Closed Loop Parameters184Encoder Setting and Testing184Encoder Module Parameters Setting185Exercising the Motors186Viewing Encoder Data186Running the Motors186Logging Data to Disk189Connecting a Joystick190Using the Console191Viewing and Logging Data in Analog and R/C Modes192Loading and Saving Profiles to Disk192Operating the AX2550 over a Wired or Wireless LAN193Updating the Controller’s Software194Important Warning194Updating the Encoder Software195Important Warning195Creating Customized Object Files195SECTION 16 Mechanical Specifications197Mechanical Dimensions197Mounting Considerations198Thermal Considerations199Attaching the Controller Directly to a Chassis199Wire Dimensions199Weight200Taille: 3,3 MoPages: 200Language: EnglishOuvrir le manuel