Manuel d'utilisation / d'entretien du produit AX2550/2850 du fabricant RoboteQ
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AX2550/2850 Dual Chann el High P o w er Digital Motor Contr oller User ’ s Manual v1 .7 , F ebrua r y 1, 2 00 5 visit www . robot eq.com to download the lat est revisio n of thi s manua l ©Cop yright 2003-2005 R oboteq, I nc.
2 AX25 50/2 850 Mo tor Co ntroll er U ser ’ s Ma nual V e rsio n 1 .7 . F ebruar y 1, 20 05 The inf ormation contained in this manua l is beli ev ed to be accurate a nd reliab le. Ho we v er , it ma y contain e rrors tha t were no t noticed a t time of p ublication.
AX25 50/2 850 Mo tor Co ntro ller U ser ’ s Manua l 3 Revision History.
4 AX25 50/2 850 Mo tor Co ntro ller U ser ’ s Manu al V e rsio n 1 .7. Februar y 1, 20 05.
AX2500/2850 Mo tor Controlle r User ’ s Manual 5 Re vi sion Hist or y 2 SECTION 1 AX250 0/2850 Quic k St art 11 What you will need 11 Locating Switc hes, Wir es and Conn ectors 12 Connecti ng to the.
6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Current Li mit Set tings 38 Contin uous and Extended Current Lim ita tion 38 T empe rature-B ase d Current Limit .
AX2500/2850 Mo tor Controlle r User ’ s Manual 7 Self-T est Displa y 68 SECTION 7 R/C O peratio n 69 Mode Des cription 69 Selecti ng the R /C Input M ode 70 T ypic al W iring 70 Connector I/O Pin As.
8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Apply Parameter Changes 97 Re set Control ler 97 Optica l Encoder Commands 97 Commands Ac knowledg e and Error Me.
AX2500/2850 Mo tor Controlle r User ’ s Manual 9 Using O ptical Enc oder for Spe ed F eedback (AX2850 on ly) 124 T ac hometer or En coder Moun ting 124 T ac h ometer wirin g 124 Spe ed Sens or and M.
10 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Vie wing Encoder Data 152 Upda ting the En coder Sof t w are 152 SECTION 13 Conf iguri ng the Cont roller usin g.
AX2500/2850 Mo tor Controlle r User ’ s Manual 11 SECTION 1 AX250 0/2850 Quic k Star t Thi s sectio n will g ive you t he basic in fo rmation ne eded to qu ic kly in stall, set up a nd r un you r AX2500/2850 co ntroller in a minima l configu ration.
AX250 0/2850 Quic k Start 12 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Locating S witc hes, Wires and Connector s T ak e a moment to fam iliariz e yours elf with the control ler ’ s wires, sw itc hes and co nnector .
AX2500/2850 Mo tor Controlle r User ’ s Manual 13 Connecting to the Bat teries and Motors Connecting to the Bat teries and Motors Connecti on to the ba t teries and motors i s sho wn in the fig ure belo w and is done b y con- necting the set of wir es coming o ut from the bac k of the control ler.
AX250 0/2850 Quic k Start 14 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Importa nt W arning The contr oller inc ludes lar g e capacit ors. When connecting the Mot or P ow er Cabl es, a spar k will be g enera ted at the connection point.
AX2500/2850 Mo tor Controlle r User ’ s Manual 15 P o wering On the Controller Thi s wiring - with the wi re loop un cut - assum es hat the R/C ra dio will be po wered b y the AX2500/2850 c ontroller . Other w iring options are described in “ R/C Operation ” on pa ge 6 9 of th e User ’ s Manual.
AX250 0/2850 Quic k Start 16 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 T urn the R/C transmit ter On. T he “ no ctrl ” scrol ling mess age wil l disapp ear and the d ispla y will sh ow stea dy patterns de pendi ng on t he mot ors ’ se lecte d directio n.
AX2500/2850 Mo tor Controlle r User ’ s Manual 17 Default Controller Configuration Default Co ntroller Conf iguration V ersion 1 .7 of the AX2500/285 0 sof tware is configure d with the fact or y def aults sho wn in the table bel ow .
AX250 0/2850 Quic k Start 18 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Connecting t he contro ller to y our PC usin g Roborun Connecti ng the con troller to y our PC is not neces sar y fo r basic R/ C operation .
AX2500/2850 Mo tor Controlle r User ’ s Manual 19 Obtaining the Controller ’ s Software Revi sion Nu mber T o connect the contro ller to your PC, use the pr ovided ca ble. Connect the 1 5-pin connecto r to the co ntroller . Connec t the 9-pin connector to your P C ’ s av ail able p ort (t ypi cally COM1) .
AX250 0/2850 Quic k Start 20 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 Eac h sof twa re ve rsion is ide ntified w ith a uniq ue number . Obtaining this numb er can be done us ing the PC c onnection d iscussed p re viously .
AX2500/2850 Mo tor Controlle r User ’ s Manual 21 SECTION 2 AX250 0/2850 Motor Contr oller Ov er view Congrat ulati ons! B y selec ting R oboteq ’ s AX2500/2850 y ou ha ve e mpow ered you r- self wi th the indu str y ’ s mo st v ersatile and programmabl e DC Motor Controller f or mobile robots.
AX250 0/2850 Motor Controlle r Overview 22 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 The motors ar e driv en using high-ef fi ciency P ow er MOSFE T transi stors con trolled us ing Pul se Width Modula tion (PWM) at 1 6kHz .
AX2500/2850 Mo tor Controlle r User ’ s Manual 23 T ec hnical features • T ac ho meter input s f or closed lo op speed control • P otentio meter inpu t for po sition (s er vo mode) • Motor tem.
AX250 0/2850 Motor Controlle r Overview 24 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uar y 1, 2005 • 1 00A up to 30 secon ds • 80A e xtended • High cur rent ope rati.
AX2500/2850 Mo tor Controlle r User ’ s Manual 25 Connecting P o wer SECTION 3 Connecting P o w er and Motor s to the Contr oller Thi s sectio n describes the AX2500/2850 Con troller ’ s co nnecti ons to pow er so urces and motors. Importa nt W arning Please f ollo w the ins tr uctions in this section v ery ca refull y .
Connecting P o wer and Motors to the Controller 26 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Co ntro ll er P ower The AX2500/2850 us es a fle xible po w er supply sc hem e that is best describ ed in Fig ure 9.
AX2500/2850 Mo tor Controlle r User ’ s Manual 27 Controller P o wer that conn ecting one wire of a gi ven b at tery potential wi ll elimin ate the need fo r connecting the ot her . Malfunction o r e ven dam age ma y occur if one wire is assum ing the load of all tw o.
Connecting P o wer and Motors to the Controller 28 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 P o weri ng the Contr oller using the Motor Bat teries The AX2500/2850 included a DC/DC conv erter to generat e the internal 1 2V re quired f or its operatio n.
AX2500/2850 Mo tor Controlle r User ’ s Manual 29 Controller P o wer Using a Bac kup Bat ter y T o ensure that the controll er will alwa y s be operationa l, regardless of the c harge lef t in the main ba t tery , it is reco mmended to add a 1 2V bac kup bat tery connecte d as sho wn i n Figur e 1 1.
Connecting P o wer and Motors to the Controller 30 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Mak e sur e that you r mot ors have their wir es isolat ed from th e motor casing. Some mot ors, par ticular ly au tomotiv e par ts, use on ly one wir e, with the other conne cted to th e mo t or ’ s fr ame .
AX2500/2850 Mo tor Controlle r User ’ s Manual 31 Electrical Noise Reduc tion T e c hn iques has bu ilt-in c apacito rs and vol t age limiter s that wi ll redu ce these ef f ect s.
Connecting P o wer and Motors to the Controller 32 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Importa nt W arning A v oid sw itching O ff or c utting o pen the main pow er cable s (thick bl ack and r ed wir es) while the mot ors ar e spinni ng.
AX2500/2850 Mo tor Controlle r User ’ s Manual 33 Using the Controlle r with a P ow er Supply high cur rent surge s during moto r acceleration, making it possible to use a lo w er current po w er supply .
Connecting P o wer and Motors to the Controller 34 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 35 Basic Operat ion SECTION 4 General Operation Thi s section dis cusses the co ntroller ’ s normal operation in all i ts sup ported ope rating mode s.
General O peration 36 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Selecting the Moto r Control Modes F or eac h motor , the AX2500/2850 support s multiple mo tion control modes. Th e controller ’ s f actor y def aul t mode is Open L oop Spe ed control f or ea c h mot or .
AX2500/2850 Mo tor Controlle r User ’ s Manual 37 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this m ode, illu strated in Fi gure 1 5, an analog tac hometer or an optical encoder (AX285 0 only) is used to m easure the ac tua l motor spe ed.
General O peration 38 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Current Limit Set tings The AX2500/2850 ha s curre nt sensor s at eac h of its two output stages. Every 1 6 ms , this curr ent is meas ured and a cor recti on to the output p ow er le ve l is appl ied if high er than the user pres et v alue.
AX2500/2850 Mo tor Controlle r User ’ s Manual 39 T emperature-Based Current Limitation Y ou can select one of 7 cu rrent limit se t tings bas ed on yo ur robot ’ s compon ent capabi lities (motors, bat te r y , wiring), up to th e controll er ’ s o wn lim it.
General O peration 40 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Surge Current Pr otection During ex ceptio nally high load con ditions suc h as moto r stalls, the motors ma y make demand s on the c ontroller i n ex cess o f sev eral hundred Am ps.
AX2500/2850 Mo tor Controlle r User ’ s Manual 41 Pr ogrammable A ccelerati on Numeri cally spe aking, eac h acceleration v alue corres ponds to a fixe d percentage spe ed inc rement , appl ied ever y 1 6 m illis econd s. The value for eac h setting is sh own in th e t able below .
General O peration 42 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Command Cont rol Cu r v es The AX2500/2850 can also be s et to transla te the jo ysti c k or R S232 m otor command s so that the m otors resp ond dif f erently whether the jo ys tic k is ne ar the cen ter or near the ex tremes.
AX2500/2850 Mo tor Controlle r User ’ s Manual 43 Lef t / Right T uning Adjustment The AX2500/2850 is deli vered w ith the “ lin ear ” cur v es se lected f or bot h jo ysti c k c hannels.
General O peration 44 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 directio n will ca se the motor to spin 3 to 5.
AX2500/2850 Mo tor Controlle r User ’ s Manual 45 Emergency Stop using External S witc h Aft er and Emerg enc y Stop c ondition, the c ontroll er must be r eset or po we red Off and On t o r esum e nor mal oper ation.
General O peration 46 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Special Use of Accessory Digital Inputs The AX2500/2850 in cludes tw o genera l purpose dig ital inputs id entified as Input E and Input F . O n the AX28 50, input E is disabl ed.
AX2500/2850 Mo tor Controlle r User ’ s Manual 47 Self-T est Mode Af ter a f ew second s, the LEDs will dis pla y a sequen ce of two n umerical digits and an opti onal le t ter se parate d by dashe s as sh own in the examp les be low . Af ter these digits are displa yed , the controll er will at tempt to po wer the m otors.
General O peration 48 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 49 AX250 0/2850 Connections SECTION 5 Connecting S ensor s and A ctuator s to Input/Outputs Thi s sectio n descri bes the v arious i nputs an d output s and pro vides g uidance on ho w to conne ct senso rs, ac tuators or o ther ac cessor ies to t hem.
Connecting S ensor s and A ctuators to Input/Outputs 50 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Pr o gram S e t R es e t S e t Re se t 5 6 7 9 8 4 3 1 2 1 -.
AX2500/2850 Mo tor Controlle r User ’ s Manual 51 AX250 0/2850 ’ s Inputs and Outputs AX2500/2850 ’ s Inputs and Outputs In additio n to the RS23 2 and R/C c ha nnel comm unicatio n lines, the AX2500/2850 includes se vera l inputs and outputs f or v arious sensors an d act uators.
Connecting S ensor s and A ctuators to Input/Outputs 52 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 I/O List an d Pin Assi gnment The figure and table belo w lists al l the input s and outp uts that are av ailabl e on the AX25 00/ 2850.
AX2500/2850 Mo tor Controlle r User ’ s Manual 53 Connecting devic es to Output C *The wir e color s are those used by Robo teq on our p refabric ated c ables. It is recom - mended you use these colors f or con sistency . **T hese con nections should onl y be done in RS 232 mode o r R/C mod e with radio pow- ered from the con troller .
Connecting S ensor s and A ctuators to Input/Outputs 54 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 When the c ontroller is used i n RS2 32 mode, th is output c an be t urned On and Of f using the !C (On) and !c (Of f) command strings.
AX2500/2850 Mo tor Controlle r User ’ s Manual 55 Connecting S witc hes or De vices to Input E This output i s not a v ailable on the AX2850 or on the AX2 550 with the E ncoder Mod- ule in stalled. Connecting S witc h es or Devices to Input E Input E is a genera l purpose, d igital input.
Connecting S ensor s and A ctuators to Input/Outputs 56 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 be activ ated b y a sim ple switc h connected to +5V and no e xternal resistor , as sho w in the Figur e. The status of Input F can b e read i n the R S232 m ode with the ?i com mand string.
AX2500/2850 Mo tor Controlle r User ’ s Manual 57 Connecting P osition P otentiometers to Analog Inputs The status of the EStop/ Inv c an be rea d at all tim es in the R S2 32 mode with the ?i com- mand s tring. The con troller wil l respond w ith three se ts of 2 dig it numbers.
Connecting S ensor s and A ctuators to Input/Outputs 58 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Connecti ng the pote ntiometer to the control ler is as s imple as shown in the di agram on Figur e 29.
AX2500/2850 Mo tor Controlle r User ’ s Manual 59 Connecting External Thermistor to Analog Inputs The tac hometers can generate v oltages in e x cess of 2.5 volts at ful l speed. It i s important, theref ore, to s et the pote ntiometer to the minimu m va lue (cur sor all the wa y do wn p er this dra wing) duri ng the first in stallation.
Connecting S ensor s and A ctuators to Input/Outputs 60 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The rmistor are non-line ar de vices. Us ing the c ircuit descri bed on Fi gure 31, the controller will re ad the f ollo wing v alues ( represented in signe d binary) according to th e temperat u re.
AX2500/2850 Mo tor Controlle r User ’ s Manual 61 Connecting User De vices to Analog Inputs Using these resis tor valu es, it is possibl e to measure a vo ltage ranging from -5V to + 60V with a 0.25 V resolution. The f ormul a for con v erting the A/D reading in to a vol t age v alue is as follows.
Connecting S ensor s and A ctuators to Input/Outputs 62 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Internal V oltage Mon itoring Senso rs The AX2500/2850 i ncorporate s v oltage sensors that mon itor the Main B at tery voltage a nd the Internal 1 2V supply .
AX2500/2850 Mo tor Controlle r User ’ s Manual 63 T emperature Con v er sion C S ource Code T emperature Con v er sion C Source Cod e The code belo w can be us ed to con vert the ana log readi ng into temperat ure . It is provid ed f or ref erence on ly .
Connecting S ensor s and A ctuators to Input/Outputs 64 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 65 Use of the LE D Displa y SECTION 6 Normal and F ault Condition LED Messages Thi s sectio n discus ses the meaning of th e va rious mes sages and codes th at ma y be dis - pla yed on the LED d ispla y during n ormal ope ration and faul t conditions .
Normal and F ault Condition LED Messages 66 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Motor Direction Status When the c ontroller is r unning, two pa irs of LED segm ents are d irectly rela ted to com - mand inf ormatio ns to the P o we r Output stage.
AX2500/2850 Mo tor Controlle r User ’ s Manual 67 Fau l t M e ss ag es Fault M essages The AX25 00 /2850 u ses th e LED di splay to r epor t fault co nditio ns.
Normal and F ault Condition LED Messages 68 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Emergency St op The “ Emergency Stop ” message is displ ay ed af ter.
AX2500/2850 Mo tor Controlle r User ’ s Manual 69 Mode Description SECTION 7 R/C Operation Thi s section describes the contr oller ’ s wiring and func tions specif ic to the R/C radio control mode. Mode Des cription The AX2500/2850 c an be direc tly con nected to an R/C receiv er .
R/C Oper ati on 70 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 S electing the R/C Input Mode The R/C Input Mo de is the f acto r y def ault set tin g .
AX2500/2850 Mo tor Controlle r User ’ s Manual 71 Connector I/O Pin Assignment (R/C Mode) • at le ast on e moto r • optional 1 2V bac kup pow er supp ly fo r the contro ller • R/C radio See “ Conn ecting P owe r and Motor s to the Controll er ” on pa ge 25.
R/C Oper ati on 72 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 R/C Inpu t Circuit Description The AX2500/2850 in cludes a n optical i solation barrie r on the Cha nnel 1 and Ch annel 2 R/C radio in puts. Figure 41 sho ws an electric al representation of the R/C input c ircuit.
AX2500/2850 Mo tor Controlle r User ’ s Manual 73 Supplied Cable Description Supplie d Cable Descrip tion The AX2500/2850 is deliv ered with a custom cable that can eas ily be ada pted to op erate in an y of the su pported is olated a nd non is olated mo des.
R/C Oper ati on 74 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 . The wire loo p is used to bring po wer fro m the cont roller ’ s internal po we r supply to th e optocou plers and to t he R C radio.
AX2500/2850 Mo tor Controlle r User ’ s Manual 75 Cabling to R/C Receive r with P artial Opto-Isolation The opto iso lators mus t be po we red with a 5V suppl y for their buil t-in ampli fiers to w ork. Thi s po wer is normally su pplied from the R/C radio ’ s ba t tery as detailed in the diagra m on Figur e 45 .
R/C Oper ati on 76 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 pow er v oltage are still se parate, some protectio n remains sh ould the c ontroller f ail and accid entally genera te a high voltage on its +5V ou tput.
AX2500/2850 Mo tor Controlle r User ’ s Manual 77 P o wering the Radio fr om the controller Importa nt W arning Do not conne ct a bat t ery to the radio w hen in this m ode. The bat te ry volta ge wi ll flow dir ectly into t he con trol ler and c ause pe rm anent d amage i f its voltag e is higher than 5.
R/C Oper ati on 78 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Los ing the o ptical isol ation increa se the risks that damage in the contro ller will reac h the radio, al though thes e risks remain e xtremely low .
AX2500/2850 Mo tor Controlle r User ’ s Manual 79 Reception W atc hdog F or best results, relia bility and saf e t y , the co ntroller will also perf orm a se ries of cor rec- tions, a djustmen ts, and c hec ks to the R/C co mmands, as describe d in the f ollo wing sec- tions.
R/C Oper ati on 80 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Another im portant consid eration is th e R/C receiv er ’ s abi lit y to oper ate in a n electr ically noisy e nviro nment: the AX25 00/2850 switc h es high cur rent at v er y high frequencies.
AX2500/2850 Mo tor Controlle r User ’ s Manual 81 Command Control Curves Command Co ntr ol Curves The AX2500/2850 can also be set to tra nslate the j oy stic k motor comman ds so that the motors re spond dif fere ntly whet her the jo ysti c k is ne ar the cen ter or near th e extrem es.
R/C Oper ati on 82 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The re are tw o method s for c alibrati ng the jo y stic ks: • The a utomatic method is the simpl est and is b ased on the controller “ learn ing ” the joy stic k ’ s parameters u sing the s imple traini ng seque nce desc ribed bel ow .
AX2500/2850 Mo tor Controlle r User ’ s Manual 83 Activ ating the Accessory Outputs Notes: If y ou at tempt to calibra te the jo ysti c ks whil e the radio i s of f or no t connecte d to the co n- troller , the calibration data will no t c han ge and the pre viou sly stored i nforma tion wil l con- tinu e to be used.
R/C Oper ati on 84 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Data Logg ing in R/C Mode While in R/C Mode, the AX2500/2850 w ill continuo usly se nd a string of c harac ters on th e R S232 outp ut line.
AX2500/2850 Mo tor Controlle r User ’ s Manual 85 Data Logging in R/C Mode 1 2 3 4 7 8 9 5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 6 RX Data RS232 Data Out GND R/C Ch 1 R/C Ch 2 R/C GND R/C +5V GND DB9 Female T o PC DB15 Male T o AX2550 FIGURE 55 .
R/C Oper ati on 86 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 87 Use and benefits of RS232 SECTION 8 S erial (RS-232) Contr ols and Operation Thi s sectio n descri bes the co mmunicatio n set tings and the c ommands accepte d by the AX2500/2850 i n the R S232 mode of operatio ns.
Serial (RS-232) Contr ols and Operation 88 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Connector I/O Pin Assi gnment (RS232 Mode) When use d in the R S232 m ode, the pi ns on the controlle r ’ s DB1 5 connector are mapped as des cribed in the t abl e belo w T ABLE 1 7 .
AX2500/2850 Mo tor Controlle r User ’ s Manual 89 Cable configuration Cabl e conf ig uration The R S232 connec tion requi res the s pecial ca bling as described in the fi gure belo w . T he 9- pin f emale connecto r plugs in to the PC (or other micro controlle r).
Serial (RS-232) Contr ols and Operation 90 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Commu nicat ion Set tin gs The AX2500/2850 se rial commun ication port is.
AX2500/2850 Mo tor Controlle r User ’ s Manual 91 Establishing Manual Communica tion with a PC and Inst al ling th e Utilit y ” on pa ge 159). The conf igur atio n fil e is set to use the COM 1por t. Y ou can easily c hange this set ting to a dif f erent port from the program ’ s menus.
Serial (RS-232) Contr ols and Operation 92 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Thi s inf ormation c an be saf ely ignored a nd the con troller will s till be a ble to switc h to R S232 mode upon rece iving 1 0 con tinuou s Carria ge Re turns as des cribed ab ov e.
AX2500/2850 Mo tor Controlle r User ’ s Manual 93 RS232 Commands Set !B7F c han nel 2, 1 00% forward !a3F c han nel 1, 50% rev erse Notes: The hexadeci mal nu mber must alw ays c ontain tw o digits . F or e xample, !a 5 will not be recogni zed and the contr oller wil l respond with a “ - ” to indicate an error .
Serial (RS-232) Contr ols and Operation 94 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 ex er cising the c ontroller m anually , y ou ma y use th e Deci mal to He xadec imal con ve rsion table on page 1 03.
AX2500/2850 Mo tor Controlle r User ’ s Manual 95 RS232 Commands Set Query Heatsi nk T emperatures Descrip tion: Thi s query will cause the controlle r to ret urn v alues based on the temp eratu re measu red by internal t hermistors located at e ac h he atsink sid e of the co ntroller .
Serial (RS-232) Contr ols and Operation 96 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 R eply: nn mm oo Where: nn = Inp ut E st atus mm = I nput F stat us oo = .
AX2500/2850 Mo tor Controlle r User ’ s Manual 97 Optical Encoder Commands Notes: All pa rame ters and valu es are e xp resse d with 2 hexadeci mal di gits No c ha nges will be made and an error wil.
Serial (RS-232) Contr ols and Operation 98 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Command Ac knowledgement The AX2500/2850 w ill ac knowle dge comm ands in.
AX2500/2850 Mo tor Controlle r User ’ s Manual 99 RS232 Acc essible P arameter T able RS232 Accessible P arameter T able T able 1 8 below lists the co mplete set of configura tion paramete rs that ma y be acce ssed and c ha nged using R S232 comma nds.
Serial (RS-232) Contr ols and Operation 10 0 AX2500/2850 Motor C ontroller User ’ s Manu al V ersion 1 .7. F ebr uar y 1, 2005 04 Input sw itc h func- tion Bits 0 to 3 contain the ESto p/Inv in put operat ing mode 0 = cau ses emergenc y stop 1 = invert comma nds (2) = no a ction (de fault ) Bits 4,5 a nd 6.
AX2500/2850 Mo tor Controlle r User ’ s Manual 101 Automatic S witc hing fr om RS232 to RC Mode Automatic Switc hin g from RS232 to RC Mode In man y com puter contr olled app lication, i t may be usefu l to allo w the controller to s witc h bac k to the RC mode.
Serial (RS-232) Contr ols and Operation 10 2 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 to re vert th e controller i n the R C mode (the controller mu st be configu red to def ault to R C mode).
AX2500/2850 Mo tor Controlle r User ’ s Manual 10 3 Data Logging Cables DB1 5 connector is desc ribed on page 85 for the R/C mode , and on page 1 1 3 f or the Analog mode.
Serial (RS-232) Contr ols and Operation 10 4 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 logging purposes . Thi s cable ha s a 1 5 -pin male connector a nd 3 1 5 -pin conn ectors. T he male c onnector plug s into the controlle r .
AX2500/2850 Mo tor Controlle r User ’ s Manual 10 5 Decimal to He xadecimal Con v ersion T able 6 0 6 3 82 67 0 4 61 0 2 6 6 7 0 7 3 92 77 1 4 71 0 3 6 7 8 0 8 4 02 87 2 4 81 0 4 6 8 9 0 9 4 12 97 3.
Serial (RS-232) Contr ols and Operation 10 6 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 -1 20 1 36 88 -88 1 68 A8 -56 200 C8 -24 232 E8 -1 1 9 1 37 89 -87 1 .
AX2500/2850 Mo tor Controlle r User ’ s Manual 10 7 Mode Description SECTION 9 Analog Contr ol and Operation Thi s sectio n descri bes ho w the motors may be opera ted using analog voltage c ommands.
Analog Control and O peration 10 8 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 Connector I/O Pin Assi gnment (Analog Mod e) When use d in the An alog mod e, the pins on the contro ller ’ s DB1 5 con nector are mapped as des cribed in the t abl e belo w T ABLE 21 .
AX2500/2850 Mo tor Controlle r User ’ s Manual 10 9 Connecting to a V oltage S ource Connecting to a V oltage S ource The analog inputs e xpec t a DC v oltage of 0 to 5V whic h can be so urced b y an y custom cir- cuitr y (po tent iomete r , Digit al t o Ana log co nv ert er).
Analog Control and O peration 11 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The controlle r include s two 47K ohm resis tors pull ing the in put to a mi d-vo ltage point of 2.
AX2500/2850 Mo tor Controlle r User ’ s Manual 111 Analog Deadband A djustment 1 00K or higher pote ntiometer . Figure 66 sho ws ho w the output v oltage va ries at the v ari- ous pote ntiometer pos itions, f or three typical p otentiomete r va lues.
Analog Control and O peration 11 2 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 Importa nt Notice Some analo g joys ticks do not caus e the pot entiomet er t o r eac h either e xtr emes.
AX2500/2850 Mo tor Controlle r User ’ s Manual 11 3 Data Logging in Analog Mode • Internal Hea t Sink tempera ture s 1 and 2 • Main B at ter y v oltage • Internal 1 2V voltage • Encoder Sp eed or P osition (A X2850) The entire string is repeate d ev ery 21 3 millisecond s with the la test internal parameter v al- ues.
Analog Control and O peration 11 4 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 11 5 Mode Description SECTION 10 Closed Loop P osition Mode Thi s sectio n describes the AX2500/2850 P osition mo de, ho w to wire the motor and posi- tion sen sor ass embly , and ho w to tune and opera te the con troller in t his mode.
Closed Loop P osition Mode 11 6 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 P os ition Se nsor S electi on The AX2500/2850 ma y be used with th e fol lowi ng .
AX2500/2850 Mo tor Controlle r User ’ s Manual 11 7 P otentiometer wiring The mec ha nical coupli ng betwee n the motor and the s ensor must be as tight as possibl e. If the gear b ox is loose, the positioni ng will no t be accurate a nd will b e unstable, pote ntially causing t he motor to o scillate.
Closed Loop P osition Mode 11 8 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 In the P ositi on mode , the co ntroller c ompares the act ual p osition, as measu red b y the sen- sor , to the des ired positio n.
AX2500/2850 Mo tor Controlle r User ’ s Manual 11 9 Adding S afety Limit S witc hes Nev er apply a comman d that is low er than the sensor ’ s minimum output v alue, or higher than the sen sor ’ s maximum output v alue as the motor w ould tur n f orev er try- ing t o reac h a position it can ’ t .
Closed Loop P osition Mode 12 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The second m ethod uses the AX2500/2850 ’ s Emergency Sto p input to sh ut dow n the con- troller if any of the limit s witc hes i s tripped.
AX2500/2850 Mo tor Controlle r User ’ s Manual 121 Control Loop Description Figure 7 3 sho ws a repr esentation of t he PID al gorithm. Ev ery 1 6 mill iseconds, the control - ler measure s the act ual mo tor position a nd substracts it from the d esired position to com- pute the p osition er ror .
Closed Loop P osition Mode 12 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 PID tuning in P osition Mod e As di scusse d abov e, thre e paramet ers - P roportiona l Gain, Inte gral Gain and Dif fere ntial Gain - ca n be adjus ted to t une the p osition control algorithm.
AX2500/2850 Mo tor Controlle r User ’ s Manual 123 Mode Description SECTION 1 1 Closed Loop Speed Mode Thi s section dis cusses the AX2500/2850 Clos e Loop Spe ed mode. Mode Desc ription In this mode, an analog or digital sp eed sens or measures the ac tual motor sp eed and com- pares i t to the desi red speed .
Closed Loop Speed Mode 12 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Using Optical Encoder for Speed F eedbac k (AX2850 only) Digital Optic al Enco ders ma y be used to capt ure ac curate mo tor speed.
AX2500/2850 Mo tor Controlle r User ’ s Manual 125 Speed Sens or and Motor P olarity Connecti ng the tac ho meter to the controller is as simp le as sh own in the dia gram in t he figure be low . Speed S ensor and Mot or P olari ty The tac hometer o r encoder polarity (i.
Closed Loop Speed Mode 12 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 6. Apply po we r to the Moto r P o wer wires (thic k pow er wires). T he motor w ill be stopped . 7. Mov e the cursor of the desired motor to the right so that the mot or starts rotating, and v erify that a positiv e speed is reported.
AX2500/2850 Mo tor Controlle r User ’ s Manual 127 Control Loop Description Control Loop De script ion The AX2500/2850 pe rforms the Closed Loop Sp eed mode using a full f eat ured P ropor- tional, Integral and Dif f eren tial (PID) a lgorithm.
Closed Loop Speed Mode 12 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 PID tuning in Speed Mo de As di scusse d abov e, thre e paramet ers - P roportiona l Gain Inte gral Gain, and Dif fere ntial Gain - can b e adjusted to tune th e Closed L oop Speed con trol algorith m.
AX2500/2850 Mo tor Controlle r User ’ s Manual 129 PID tuning in Speed Mode.
Closed Loop Speed Mode 13 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 131 Optical Increm ental Encoders Overview SECTION 12 Installing, Connecting and Using the Encoder Module Thi s sectio n describes the Encod er input mo dule that is f actory installed ins ide the AX2850, o r that ma y be a dded onto the AX2550.
Installing, Connecting and Using the E ncoder Mod- 13 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 The figure bel ow s hows the typical co nstr uction of a quadrat ure enc oder . As the disk rotates in front o f the stationar y mask , it shut te rs light from the LED .
AX2500/2850 Mo tor Controlle r User ’ s Manual 133 Installing the Encoder Module Specifi cally , the en coder mod ule can p rocess 250, 00 0 co unts per sec onds. A s discu ssed in the pre vio us section, a count i s generated f or eac h transition o n the Chan nel A and Channel B .
Installing, Connecting and Using the E ncoder Mod- 13 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 When ins talling y ourself , fol low the se simpl e steps 1 .
AX2500/2850 Mo tor Controlle r User ’ s Manual 135 Connecting the Encoder 4- Slide the co ve r bac k on. Install the ne w f ace plate 5- P owe r on the con troller and install v ersion 1 .6 or ne wer of the controll er firmw are and P C utility . Update the encoder fi rmwa re if a ne w v ersion e xists .
Installing, Connecting and Using the E ncoder Mod- 13 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Moto r - Enco der P olarit y Matc hing When usi ng the Enc o.
AX2500/2850 Mo tor Controlle r User ’ s Manual 137 Wiring Optional Limit S witc hes In Figure 84, the encoder and switc hes are wir ed to the en coder mod ule using a set of resisto rs desig ned to c reate a multi-le v el sig nal combi ning bot h inf ormati on.
Installing, Connecting and Using the E ncoder Mod- 13 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Usin g this circu it, whe n the s witc h is open, a 0V (l ow -level) outp ut fro m the e ncode r goes through a 1k an d 4.
AX2500/2850 Mo tor Controlle r User ’ s Manual 139 Using the Encoder to Measure Speed Using the Encoder to Measure Speed The encoder module w ill autom atically c ompute rotation speed f or eac h encoder .
Installing, Connecting and Using the E ncoder Mod- 14 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Using the En coder to T rac k Po sition The encoder module c an be u sed to report the distance between the act ual moto r position and a des ired desti nation.
AX2500/2850 Mo tor Controlle r User ’ s Manual 141 RS232 Communication with the Encoder Mo dule Encoders do not r epor t an absol ute pos ition v alue but a c ount that is r el ative t o the point wher e the m otor shaf t was at po w er up.
Installing, Connecting and Using the E ncoder Mod- 14 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Details on sof twa re updatin g is giv en in section Figure , “ Upd ating the Encode r Sof tware , ” on page 1 52.
AX2500/2850 Mo tor Controlle r User ’ s Manual 143 RS232 Encoder Command S et S et/Reset Encoder Counter s and Destination Registers Descrip tion: Set one o r both coun ters to z ero or a us er -defin ed v alue.
Installing, Connecting and Using the E ncoder Mod- 14 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Notes: The comman d ret urns a s igned he xade cimal n umber whe re 0 to +1 27 is repre sented b y 00 to 7F , and -1 to -1 27 is rep resented b y FF to 80 resp ectivel y .
AX2500/2850 Mo tor Controlle r User ’ s Manual 145 RS232 Encoder Command S et Note that f or this function to work, limit switc hes must be c onnected to the encode r mod- ule usi ng the sp ecial wi ring diag ram sho w in “ Wiring Optional L imit S witc hes ” on pag e 1 37.
Installing, Connecting and Using the E ncoder Mod- 14 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Read par amet er Syn t a x: * mm R eply: DD Where mm = addre.
AX2500/2850 Mo tor Controlle r User ’ s Manual 147 Reg ister Descr ipt ion Importa nt W arning Do not alt er an y o ther ar ea locations a s this ma y cause pr ogr am ex ecution f ailure inside the encoder mod ule.
Installing, Connecting and Using the E ncoder Mod- 14 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 S witc h St atus R eturn s a 4 bi t number (4 least signi ficant bit s of the b yte), eac h representi ng the state of one of the limi t switc h when installe d.
AX2500/2850 Mo tor Controlle r User ’ s Manual 149 Counter Read Data Format Speed 1 and 2 The se regist ers contain a s igned 8-bi t value (-1 27 to +1 27) that repres ents the moto r speed relativ .
Installing, Connecting and Using the E ncoder Mod- 15 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 When rea ding the c ounter v alue into a microc omputer , th.
AX2500/2850 Mo tor Controlle r User ’ s Manual 151 Encoder T esting and Set ting Using the PC Utility • Set and pro gram the Enco der module ’ s parameters in EEPR OM • Activ ate th e motors i.
Installing, Connecting and Using the E ncoder Mod- 15 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Ex ercising the Motors A set of b ut tons a nd slide rs are pro vider to starting/stoppin g commun ication with the con- troller a nd encoder .
AX2500/2850 Mo tor Controlle r User ’ s Manual 153 SECTION 13 Conf iguring the Contr oller using the S witc hes The AX2500/2850 Speed Con troller can be pro grammed to operate in many modes using a simple se t-up proced ure. T wo but tons and a 7 -segmen t LED displ ay l et the user e xamin e and c ha nge thes e set tin gs.
Configuring the Controller using the Switc hes 15 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Entering Pr ogramming Mode P rogrammi ng mode is entere d by pressing a nd holdin g the Program but ton for 1 0 sec onds af ter reset ting the control ler .
AX2500/2850 Mo tor Controlle r User ’ s Manual 155 Pr ogramming using built-in S witc hes and Display Be car eful not t o c onfuse the Set and Pr ogra m butt on when ent er ing the Pr ogr am- ming Mode . Pr essing an d holdin g the Set but to n alone f or 1 0 seconds af ter r eset will cause the c ontrolle r to ent er in sel f-test mod e.
Configuring the Controller using the Switc hes 15 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 reset ti ng the con troller .
AX2500/2850 Mo tor Controlle r User ’ s Manual 157 Pr ogrammable P arameters List This ta ble sho ws only the par amet ers that can b e prog ram med using the switc hes and displ ay .
Configuring the Controller using the Switc hes 15 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 *The coas t fun ction is not im pleme nted in thi s revisio n of the sof twa re. The con troll er wil l only op erate in b rake mode.
AX2500/2850 Mo tor Controlle r User ’ s Manual 159 SECTION 14 Using the Roborun Conf iguration Utility A PC bas ed Configura tion Uti lity is av ailabl e, free of c harge, from Robo teq. T his pro- gram makes configuri ng and op erating the AX2500/2850 muc h more int uitiv e b y using p ull-do wn menu s, but tons and sli ders.
Using the Roborun Configuration Utility 16 0 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 • af ter the in stallation is comple te, you will be able to r un the prog ram from y our Start Menu > Programs > Robo teq Y ou do not need to h av e the con troller connec ted to y our PC to start the Utility .
AX2500/2850 Mo tor Controlle r User ’ s Manual 161 Roborun Frame, T ab and Menu Descriptions Roborun F rame, T ab and Menu Descripti ons The Ro boru n screen contains the fou r main set of comma nds and in fo rmation fra mes des cribe d below: 1 - Progr am Revision Number Thi s is the revisio n and da te of the R obor un utili ty .
Using the Roborun Configuration Utility 16 2 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 With the port op en, R obor un will tr y to establish communi cation with the controlle r .
AX2500/2850 Mo tor Controlle r User ’ s Manual 163 Loading, Changing Controller P arameter s Control s Set tings The scre en shown in Figure 94 i s used t o view and c hange th e cont roll er ’ s main contro l modes.
Using the Roborun Configuration Utility 16 4 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Thi s pull do wn men u will le t you s elect the con troller ’ s respons e to c h anges on the opti onal sw itc h in put: Emerge ncy St op, I nv ert C omman ds, or no act ion.
AX2500/2850 Mo tor Controlle r User ’ s Manual 165 Loading, Changing Controller P arameter s Analog or R/C Specif ic S et tings The screen sho wn i n Figure 96 is slightly d if f erent w hether the Anal og Input mo de is selec ted or not.
Using the Roborun Configuration Utility 16 6 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Closed Loop P arameter s Thi s screen shown in Figure 97 is us ed to set the P rop ortional, Inte gral and Di f f erential gains needed f or the PID a lgorithm.
AX2500/2850 Mo tor Controlle r User ’ s Manual 167 Optical Encod er Operation Optical Encoder Operati on The Ro boru n utility pro vides many fac ilities f or conf iguring a nd testing the Optic al Encoder module contained in the AX2850.
Using the Roborun Configuration Utility 16 8 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 1 - Run/Stop But t on Thi s but ton will cause th e PC to s end the r un comm ands to th e controller a nd will update the scre en with measure ments receiv ed from th e controll er .
AX2500/2850 Mo tor Controlle r User ’ s Manual 169 Running the Motors The Po we r field disp lay s the po w er le vel that is act uall y being applied to the motor .
Using the Roborun Configuration Utility 17 0 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 three dig ital inputs prese nt on the contro ller . Blac k rep resents a “ 0 ” lev el. Gr een repre - sent s a “ 1 ” level.
AX2500/2850 Mo tor Controlle r User ’ s Manual 17 1 Running the Motors line of th e sa ve file contains the Header n ames. Eac h follo win g line co ntains a com plete set of pa rameters.
Using the Roborun Configuration Utility 17 2 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Vi ew ing and Logging D ata in Analog and R/C Modes When the c ontroller is config ured in R/C o r Analog m ode, it will automatic ally an d continu- ously s end a string of A SCII c hara cters on the R S232 outpu t.
AX2500/2850 Mo tor Controlle r User ’ s Manual 17 3 Operating the AX250 0/2850 o ver a Wi red or Wireless LAN T o operate o ver t he netw ork two comp uters are required, a s show in Figure 1 0 0 belo w . The top com puter is connecte d to the con troller vi a its COM port.
Using the Roborun Configuration Utility 17 4 AX2500/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005 Updating th e Contr oller ’ s S of tw are The AX25 00 /285 0 ’ s ope rating so f tware c an be easi ly upgrad ed af ter it has lef t the fa ctory .
AX2500/2850 Mo tor Controlle r User ’ s Manual 17 5 Creating Cust omized Object Files Creating a custom object file c an easily be done u sing the Ob jectmak er utility . T his short program is automa tically installed in the Start menu w hen installin g the R obor un uti lity .
Using the Roborun Configuration Utility 176 AX2500/2850 Mo tor Controlle r User ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005.
AX2500/2850 Mo tor Controlle r User ’ s Manual 17 7 Mec hanical D imensions SECTION 15 Mec h anical Specif ications Th is sect ion details the mec hanical c haracte ristics o f the AX2 500/2850 co ntrolle r .
Mec hanical Speci fications 17 8 AX2500/2850 Motor C ontroller Us er ’ s Ma nual V ersion 1 .7. F ebr uary 1, 2005 Mounting Co nsideratio ns Mounting brac k ets o n eac h en d are pro vided for du rable asse mbly of the controlle r onto any c hassis.
AX2500/2850 Mo tor Controlle r User ’ s Manual 17 9 Wire Dimensions F or high current app lications, it is possi ble that the c ontroller ma y hea t-up fa ster and to a highe r tem perature than c an be di ssipa ted by th e heatsi nk en closu re usi ng natural convec- tion alon e.
Mec hanical Speci fications 180 AX250 0/285 0 Motor Contro ller User ’ s Manual V ersion 1 .7. F eb rua r y 1, 2005.
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté RoboteQ AX2550/2850 c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du RoboteQ AX2550/2850 - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation RoboteQ AX2550/2850, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le RoboteQ AX2550/2850 va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le RoboteQ AX2550/2850, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du RoboteQ AX2550/2850.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le RoboteQ AX2550/2850. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei RoboteQ AX2550/2850 ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
