RoboteQメーカーAX3500の使用説明書/サービス説明書
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AX350 0 Dual Chann el High P o w er Digital Motor Contr oller User ’ s Manual v1 .9b, June 1, 2007 visit www . robot eq.com to download the lat est revisio n of thi s manua l ©Cop yright 2003-2007 R oboteq, I nc.
2 AX3500 Motor Con troller User’ s Manua l V ersion 1 .9b. J une 1 , 2007.
AX3500 Motor Controll er User ’ s Manu al 3 Revision History The inf ormation contained in this manua l is belie v ed to be a ccurate and reliable. Ho we ver , it ma y contain e rrors tha t were not notic ed at time of publicati on.
4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 5 Re vi sion Hist or y 3 SECTION 1 Impo rt ant S af et y W arn ings 13 This produc t is inte nded for use with rec harge able bat teries 13 A v oid Sho rts .
6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 SECTION 5 Genera l Operat ion 41 Ba sic Oper ation 41 Inpu t Comm and Mo des 41 Selec ting the Motor C ontrol Mo des 42 Open.
AX3500 Motor Controll er User ’ s Manu al 7 SECTION 7 RC Pu ls es Ou tp u t 71 RC Pulse Output Ov er vi ew 71 Conne ctor Location an d Pinout 72 Conne cting Ser vos to Co ntroller s 72 Ser vo Connec.
8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Adding Safety Limit Switc hes 95 Using Cu rrent Limitin g as Protection 97 Contro l Loop Descr iption 97 PID tuning in P osi.
AX3500 Motor Controll er User ’ s Manu al 9 SECTION 13 Analog Con trol and Op eration 127 Mode Descrip tion 127 Conne ctor I/O Pi n Assignment (Analog Mod e) 128 Conne cting to a V olt age Source 12.
10 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Acc el er at io n 150 Input Switc hes F unction 151 RC Joys ti c k o r A na lo g De ad ba nd 152 Expone ntiation on Channel.
AX3500 Motor Controll er User ’ s Manu al 11 Programming usi ng built -in Switc hes and Dis play 17 5 Entering Programming Mod e 17 6 Changing pa rameters 17 7 T he Spec ial Case of J o ysti c k Cal.
12 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 13 SECTION 1 Impor tant S afe ty W arnings Read this Section First The AX3500 is a high po wer electr onics dev ice. Ser iou s damag e, including fir e, may occur t o the unit, motors, wir ing an d batt er ies a s a r esult of its misuse.
Imp ortant Sa fety Wa rnin gs 14 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 15 SECTION 2 AX350 0 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 AX3500 controller i n a minima l configu ration.
AX350 0 Quic k Start 16 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 The front side (sho wn in Figure 1) contains the but to ns and displa y needed to opera te and monitor th e controll er .
AX3500 Motor Controll er User ’ s Manu al 17 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- nect ing wires to the Fa st-on tabs on the control ler.
AX350 0 Quic k Start 18 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Do not r ely on cu ttin g pow er t o the contr oller f or it to t ur n of f if the P o w er Contr ol is lef t floating.
AX3500 Motor Controll er User ’ s Manu al 19 Connecting the R/C Radio Connecting t he R/C Radio Connect the R/C adapter cable s to the controller on one side and to two or three c hannels on the R/C r eceiv er on the other side.
AX350 0 Quic k Start 20 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 T o pow er the con troller , center th e jo ystic k and trims on the R/C trans mit ter . In An alog mode, c enter the co mmand po tentioment er or jo ys tic k.
AX3500 Motor Controll er User ’ s Manu al 21 Default Controller Configuration Default Co ntroller Conf iguration V ersion 1 .9b of the AX3500 sof tw are is config ured with the fa ctor y def aults sho wn in the table belo w .
AX350 0 Quic k Start 22 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 .
AX3500 Motor Controll er User ’ s Manu al 23 Obtaining the Controller ’ s Software Revi sion Nu mber T o connect the contro ller to your PC, use the pr ovided ca ble.
AX350 0 Quic k Start 24 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 It is also poss ible to get the controll er to displa y the sof tware version nu mber by follo wing these s imple ste ps • Disconnect th e pow er fro m the motor bat teries.
AX3500 Motor Controll er User ’ s Manu al 25 SECTION 3 AX350 0 Motor Contr oller Ov er view Congrat ulati ons! B y selec ting R oboteq ’ s AX3500 you ha v e empo w ered yo urself with the industr y ’ s mos t versa tile, and prog rammable DC Mo tor Controlle r for mobile robots.
AX350 0 Motor Controller Ove r vie w 26 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The motors ar e driv en using high-ef fi ciency P ow er MOSFE T transi stors con trolled us ing Pulse W idth Modul ation (PWM) at 1 6kHz.
AX3500 Motor Controll er User ’ s Manu al 27 T ec hnical features • Motor temp erat ure senso r inputs • Externa l voltage sensors • User defi ned purpos e (RS2 32 mode o nly) • 2 Extra anal og inputs (on Re vB hardw are).
AX350 0 Motor Controller Ove r vie w 28 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 • 60A up to 1 5 second s (per c hannel) • 50A up to 3 0 seconds • 40A e xtended .
AX3500 Motor Controll er User ’ s Manu al 29 P o wer Connections SECTION 4 Connecting P o w er and Motor s to the Contr oller Thi s section describes the AX35 00 Controller ’ s connecti ons to po wer sourc es and moto rs. 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 30 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Co ntro ll er P ower The AX3 50 0 uses a flexible power supp ly scheme th at is best de scrib ed in Figur e 9.
AX3500 Motor Controll er User ’ s Manu al 31 Controller P o wer When po w ered on ly via th e P o w er Control input, th e controller will t urn On but moto rs will not be a ble to tu rn until po w er is also pre sent on the VM ot tabs The P ow er Co ntrol input al so ser ves as t he Enab le sig nal for the DC /DC converter .
Connecting P o wer and Motors to the Controller 32 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 All 3 grou nd (-) are connecte d to eac h o ther insid e the controll er . The tw o main ba t ter y wires a re also con nected to eac h o ther interna lly .
AX3500 Motor Controll er User ’ s Manu al 33 Controller P o wering S c hemes The re is no need to inser t a separate switc h on P ow er cabl es, although f or sa f ety reasons, it is highly recommen.
Connecting P o wer and Motors to the Controller 34 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Unless y ou can ensur e a st eady 12V to 40V v oltag e i.
AX3500 Motor Controll er User ’ s Manu al 35 Single Channel O peration If yo u ar e using this type of motor , mak e sur e that it is mo unted on i solato rs and that its casi ng will not caus e a shor t circ uit with other mot ors and circui ts which may also be i nadv ert ently con nect ed to the same me tal chass is.
Connecting P o wer and Motors to the Controller 36 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 It will be saf e to wire in paralle l the con troller ’ s outputs onl y af ter y ou ha v e verifi ed that both outp uts react ide ntically to c hannel 1 commands.
AX3500 Motor Controll er User ’ s Manu al 37 Wire Length Limits Wire Length Limits The AX3500 regulates the o utput pow er b y switc hing the pow er to the m otors On and Of f at high frequencie s.
Connecting P o wer and Motors to the Controller 38 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 that time , the regene rated curren t will at tempt to flo w bac k to the bat tery . Since none i s present, the v oltage will ri se to pote ntially uns af e le vel s.
AX3500 Motor Controll er User ’ s Manu al 39 Using the Controlle r with a P ow er Supply Using the Contro ller with a P o wer Suppl y Using a transf ormer or a switc hing pow er s upply is po ssible b ut requires special c are, as the cur rent will want to flow bac k from the motors to th e pow er s upply during regenera- tion.
Connecting P o wer and Motors to the Controller 40 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 41 Basic Operat ion SECTION 5 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 42 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Selecting the Moto r Control Modes F or eac h motor , the AX3500 support s multipl e motion cont rol modes . The controller ’ s fa c- tory def ault m ode is Open Loop Speed co ntrol f or eac h motor .
AX3500 Motor Controll er User ’ s Manu al 43 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this mode, ill ustrated in F igure 18 , an analog tac hometer or an optical enc oder is u sed to measure the act ual moto r speed.
General O peration 44 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 User Selected Current Limit Set tings The AX35 00 has curr ent sen sors at each of its t wo outp ut st age s. Ever y 1 6 ms, thi s cur- rent is m easured and a corre ction to th e output po we r lev el is applied if higher tha n the user pres et v alue.
AX3500 Motor Controll er User ’ s Manu al 45 Battery Cu rren t vs . Mot or Cur ren t When the measured temperat ure rea c hes 80oC , the co ntroller ’ s maximu m cur rent limit begins to drop to reac h 0A at 1 00oC. Abov e 1 0 0oC, the c ontroller ’ s po w er stage t urns i tself of f com pletely .
General O peration 46 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The relation between B at te r y Curr ent and Motor c urren t is giv en in the formul a belo w: Motor Cu .
AX3500 Motor Controll er User ’ s Manu al 47 Pr ogrammable A ccelerati on P rogrammable A cceleration When c hanging sp eed comm and, the AX3 500 will go fr om the pres ent speed to the desir ed one at a user s elect ab le accel erati on.
General O peration 48 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 When con figuring th e accelera tion param eter using the Ro boru n utility , four additiona l accel eration steps can be s elected between th e six ones selectable u sing the swi tc h, ex tending the s low est acce leration to 2.
AX3500 Motor Controll er User ’ s Manu al 49 Lef t / Right T uning Adjustment The AX35 00 is deli vered wi th the “ li near ” cu r ves se lected f or bo th joy stic k c hannels .
General O peration 50 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 is f ound on a ll R/C transmi t ters, and whi c h is ac tual ly an of fset corr ection, the L ef t/Right .
AX3500 Motor Controll er User ’ s Manu al 51 Activ ating Brake Release or Separate Motor Ex citation Activ ating Br ak e Releas e or Separate Mot or Ex citation The controlle r may b e configur ed so that the Output C w ill t urn On when ev er one of the two moto rs is r unning.
General O peration 52 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The swi tc h conne ction is desc ribe d in “ Conn ectin g Switc hes or Devic es to E Stop/ Invert Input ” o n page 6 1.
AX3500 Motor Controll er User ’ s Manu al 53 Self-T est Mode When the input is pull ed high, a ll the po we r MOSFE Ts are t urned Of f so tha t the motors are ef fe ctiv ely discon nected from the contro ller .
General O peration 54 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 • Encoder Sp eed or P osition The entire string is repeated e ve r y 224 milliseco nds with the latest inte rnal parameter v al- ues.
AX3500 Motor Controll er User ’ s Manu al 55 AX350 0 Connections SECTION 6 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 56 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 AX3500 ’ s Inputs an d Output s In addi tion to t he RS2 32 and R/C c hannel comm unicatio n lines, the AX3500 incl udes se v- eral inputs and o utputs for v arious s ensors and act uators.
AX3500 Motor Controll er User ’ s Manu al 57 AX350 0 ’ s Inputs and Outputs ating mo de, some of these I/ Os pro vide f e edbac k and/or saf et y in forma tion to the controll er . When the controller operates i n modes that do not use these I/O , these sign als bec ome av ail able f or user applicat ion.
Connecting S ensor s and A ctuators to Input/Outputs 58 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 AX35 00.
AX3500 Motor Controll er User ’ s Manu al 59 Connecting devic es to Output C **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 . Connecti ng devi ces to Output C Output C is a buf f ered , Open Drain MOSFE T output c apable of driv ing o ver 2A a t up to 24V .
Connecting S ensor s and A ctuators to Input/Outputs 60 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s output ca n be t urned On and Of f using the Chann el 3 J oy stic k when in th e R/C mode. See “ Note: Ch annel 3 is not a v ailable on the cont rollers eq uipped w ith enco der input s.
AX3500 Motor Controll er User ’ s Manu al 61 Connecting S witc hes or De vices to EStop/In v ert Input On co ntrollers p rior to R ev B , Input F is an opto-c oupled in put and requires th e buf f er to be pow ered with a c onnection be tween pin 1 4 and 7 , and be t w een 1 3 and 6, to op erate.
Connecting S ensor s and A ctuators to Input/Outputs 62 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The stat us of the ES top/In v can be rea d at all times in t he RS2 32 mode w ith the ?i com- mand s tring. The con troller will re spond w ith three sets of 2 digit n umbers.
AX3500 Motor Controll er User ’ s Manu al 63 Connecting T ac hometer to Analog Inputs Connecti ng the pote ntiometer to the control ler is as simple as sho wn in the di agram on Figur e 32. The potentiom eter must be at t ac hed to the mo tor frame so th at its bo dy does no t mov e in relation ship with the motor .
Connecting S ensor s and A ctuators to Input/Outputs 64 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Since th e controll er only acc epts a 0 to 5V p ositiv e vol t age as .
AX3500 Motor Controll er User ’ s Manu al 65 Connecting External Thermistor to Analog Inputs Connecti ng External Thermi stor to An alog Inputs Using e xterna l thermist ors, the AX35 00 can be made to superv ise the motor ’ s temp era- t ure and adjust the po w er output in case of o v erheatin g .
Connecting S ensor s and A ctuators to Input/Outputs 66 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 T o read t he temp erature, use th e ?p comma nd to ha ve t he control ler ret urn the A/D con- ve rter ’ s v alue. T he v alue is a si gned 8-bi t hex adecimal v alu e.
AX3500 Motor Controll er User ’ s Manu al 67 Connecting User De vices to Analog Inputs Meas ure d volts = ((contr oller r eading + 1 28) * 0.255) -5 Note: The A/D con verter ’ s reading is ret urned b y the ?p comma nd and is a signe d 8-bit hex adecim al val ue.
Connecting S ensor s and A ctuators to Input/Outputs 68 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The se sensors are used to a utomatical ly reduce the maximum Am ps that the co ntroller can de live r as it o v erheats.
AX3500 Motor Controll er User ’ s Manu al 69 Internal Heats ink T emperat ure Sensors else { LoTemp =i*5-4 0 ; HiTemp = LoTemp + 5; lobound = TempTable[i]; hibound = TempTable[i+1]; temp = LoTemp + .
Connecting S ensor s and A ctuators to Input/Outputs 70 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 71 RC Puls e Output Overvie w SECTION 7 RC P ulses Output Thi s sectio n describes the P ulse outputs on the AX35 0 0. RC Pulse Output Overview The AX3500 is equipp ed with a n RC pu lse outpu t port fo r driving R C servos or a dditional R oboteq co ntrollers.
RC Pulse s Output 72 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Connector Location and Pinout Figure 4 0 belo w sho ws the lo cation of the RC Output con nector an d its pin a ssignment. Thre e pins a re pro vided f or eac h output, ma tc hing t he pinout of s tandard F utaba RC con - nect ors.
AX3500 Motor Controll er User ’ s Manu al 73 Connecting to Slav e Controllers In most a pplica tions, ho we v er , a separate pow er supp ly must b e prov ided to po w er the ser vos.
RC Pulse s Output 74 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 ler . T he figures b elow sho ws how to make th is conne ction. T he red wi re from the AX3 500 to the Sla v e Controller may be lef t u ncut if the red loop wire is cut instead .
AX3500 Motor Controll er User ’ s Manu al 75 RC Channel T esting Using the PC Utility Importa nt W arning The *mm c ommand is also used to acc ess the En coder module ’ s registers. Do not alt er an y r andom loca tions as this ma y ca use pr ogr am exec ution f ailur e i nside the encoder m odule.
RC Pulse s Output 76 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 77 Optical Increm ental Encoders Overview SECTION 8 Connecting and Using the Encoder Fu n c t i o n Thi s sectio n describes the Encod er input modu le that is built i nto the AX35 00 .
Connecting and Using the Encoder F unction 78 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 .
AX3500 Motor Controll er User ’ s Manu al 79 Connecting the Encoder 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 .
Connecting and Using the Encoder F unction 80 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Cable Length and Noise Considerations Cable shou ld not exc eed one 3 ’ (one meter) to a voi d electrica l noise to be capt ured b y the wiring.
AX3500 Motor Controll er User ’ s Manu al 81 V oltage Lev els, Thresholds a nd Limit Switc h es Using the PC util it y , it is possible to ex ercise the motors a nd vie w the enco der readin gs. See “ Enc oder T esting and Set ting Using the PC Utility ” on page 87 .
Connecting and Using the Encoder F unction 82 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning When a lim it switc h is activ at ed, the enc oder signal that is shar ed with the switch is no long er visible by the encoder module, and pulse c ounting and spe ed measur e- ment st ops.
AX3500 Motor Controll er User ’ s Manu al 83 Wiring Limit S witc hes Without Encoders When the switc h is activ ated, the m odule ’ s inpu t is pull ed to 0V . It is recomm ended that a v oltmet er and/or oscill oscope be us ed to verify that the right v olt- age le v els are crea ted as the e ncoder rotates and the switc hes activ ate.
Connecting and Using the Encoder F unction 84 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 In Singl e Channel Mode, li mit switc hes 3 a nd 4 are u sed.
AX3500 Motor Controll er User ’ s Manu al 85 Using the Encoder to T rac k P osition The relations hip betw een the me asured spee d and the act ual speed i s a f actor of tw o va ri- able pa rameters: a Time B ased peri od v alue sto red inside the Encoder m odule an d the Encoder ’ s number of P ulses p er Re v olution.
Connecting and Using the Encoder F unction 86 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 reac h ed. T his mo veme nt is con trolled b y the PID pos ition al gorithm in side the c ontroller and is t here fore best suit ed at tr ac king p osit ion.
AX3500 Motor Controll er User ’ s Manu al 87 RS232 Communication with the Encoder Mo dule RS232 Commu nication w ith the Encoder M odule The AX3500 contains its o wn M icrocontro ller and firmw are in Flash. Wh en present , it respond s to a large set of dedi cated com mands and q ueries vi a the contro ller ’ s serial port.
Connecting and Using the Encoder F unction 88 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 89 Mode Description SECTION 9 Closed Loop P osition Mode Thi s sectio n describe s the AX3500 P o sition mo de, ho w to wire the motor and po sition se n- sor assem bly and ho w to t u ne and opera te the contro ller in this mode.
Closed Loop P osition Mode 90 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 P os ition Se nsor S electi on The AX35 00 may be used with t he foll owing kin d of se nsors : .
AX3500 Motor Controll er User ’ s Manu al 91 Feedba c k P otentiometer wiring The m ec han ical co upling be t w een the motor and th e senso r must be a s tight as po ssible. If the gear bo x i s loose, the po sitionin g will not be accurate and will be unstable, pot entially causing the motor to os cillate.
Closed Loop P osition Mode 92 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Feedbac k P otentiometer wiri ng in Analog Mode When the c ontroller is config ured in Ana log mode, the analog inputs 1 a nd 2 are use d f or comman ds whil e the analog inputs 3 and 4 are used f or f eedba c k.
AX3500 Motor Controll er User ’ s Manu al 93 Analog F eedbac k on Single Channel Contr ollers Analog F eedbac k on Single Channel Contr ollers On Sing le Channe l controllers (SC V ersion - no t to .
Closed Loop P osition Mode 94 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s wiring is also the one to use when the controlle r is in Analo g mode bu t switc hed to R S.
AX3500 Motor Controll er User ’ s Manu al 95 Encoder Err or Detection and Pr otection 10 . If the motor t urns in th e direction a w ay fro m the sensor , then the polari t y is rev ersed .
Closed Loop P osition Mode 96 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The diode pola rity depends on the pa rticular wirin g and motor orie ntation used in t he appli- cation. If the diod e is mounted bac kw ards, th e motor will not stop on ce the li mit switc h lev er is pressed.
AX3500 Motor Controll er User ’ s Manu al 97 Using Current Limiting as Pr otection Importa nt W arning Limit switc hes mus t be used w hen oper ating the contr oll er in P osition Mode . This will sign ificantly r educe the r isk of me chani cal damag e and/or injury in case of dam- age to th e position sens or or sensor wir ing.
Closed Loop P osition Mode 98 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 A higher P ro portional G ain will ca use the a lgorithm t o apply a h igher le ve l of po we r for a giv en measur ed error , thus maki ng the motor mo ve qui c k er .
AX3500 Motor Controll er User ’ s Manu al 99 PID tuning in P osition Mode The Rob orun PC utility mak es this e xperimen tation easy b y pro viding one s creen f or c han g- ing t he Pro portional, Integral and Dif f eren tial gains a nd anoth er screen for r unning and monitori ng the moto rs.
Closed Loop P osition Mode 10 0 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007.
AX3500 Motor Controll er User ’ s Manu al 101 Mode Description SECTION 10 Closed Loop Speed Mode Thi s sectio n discuss es the AX35 0 0 Clo se L oop Speed 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 10 2 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 Using Optical Encoder for Speed F eedbac k Digi t al O ptical Encod- ers m ay be u sed to ca ptu re accura te motor sp eed. T his capab ility is only a v ailabl e on con- trollers fit ted wi th the optiona l encoder mo dule.
AX3500 Motor Controll er User ’ s Manu al 10 3 Speed Sens or and Motor P olarity Speed S ensor and Mot or P olari ty The tac hometer o r encoder polarity (i.
Closed Loop Speed Mode 10 4 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 A djust Offset and Max Speed F or pr oper operat ion, the contro ller must see a 0 a nalog spee d va lue (2.
AX3500 Motor Controll er User ’ s Manu al 10 5 PID tuning in Speed Mode The Dif f ere ntial compon ent of the alg orithm compute s the c hanges to the er ror from on e 1 6 ms time peri od to the ne xt.
Closed Loop Speed Mode 10 6 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 In Speed Mo de, the Integra l component of th e PID is the mos t important and must be s et first. T he P roportio nal and Dif feren tial comp onent will hel p impro ve th e respons e time and loop stability .
AX3500 Motor Controll er User ’ s Manu al 10 7 Use of the LE D Displa y SECTION 1 1 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 10 8 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 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.
AX3500 Motor Controll er User ’ s Manu al 10 9 Fau l t M e ss ag es Fault M essages The AX3500 uses the L ED displa y to re port fa ult condi tions. When th ese mess ages are displa y ed, the m otors are n ormally stopped.
Normal and F ault Condition LED Messages 11 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 T emporary F aults T emporar y F aults a re conditi on that ca use the contr oller ’ s P ower Output s t age to t urn Of f and rema in of f f or as long as the f ault is p resent.
AX3500 Motor Controll er User ’ s Manu al 111 Self-T est Display = Sof tware v ersion 1 .9b FIG URE 70 . Examp le of So f t w ar e revisi on num ber di splay.
Normal and F ault Condition LED Messages 11 2 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007.
AX3500 Motor Controll er User ’ s Manu al 11 3 Mode Description SECTION 12 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 AX3500 can be di rectly co nnected to an R/C rece iver .
R/C Oper ati on 11 4 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 S electing the R/C Input Mode The R/C Input Mo de is the f acto r y def ault set tin g .
AX3500 Motor Controll er User ’ s Manu al 11 5 R/C Input Circuit Description R/C Inpu t Circuit Description The AX3500 R/C inputs are direct ly connec ted to the MCU l ogic. Fi gure 73 sh ows an elec- trical repre sentation of the R/C i nput circuit.
R/C Oper ati on 11 6 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 . P o wering the Radio from the contr oller The 5V po wer and groun d signal s that are av ailable on the co ntroller ’ s conne ctor ma y b e used to pow er the R/ C radio.
AX3500 Motor Controll er User ’ s Manu al 11 7 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 11 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Connecting t o a Separat ely P ow ered Radio Thi s wiring option must be used w hen the contro ller is use d with a R C receiv er that is pow ered by i ts ow n separate bat te r y .
AX3500 Motor Controll er User ’ s Manu al 11 9 Reception W atc hdog ond ind icates th e minimum joy stic k position a nd 2.0 mi llisecon ds indic ates the maximum joy stic k position. When the jo ys tic k is i n the cente r positio n, the pulse s hould be 1 .
R/C Oper ati on 12 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 If no pul ses are p resent, the motors are di sabled, and the co ntroller ’ s disp lay will sc roll alternat ively th e let ters “ no ctrl ” as s how n in Figur e 81 belo w .
AX3500 Motor Controll er User ’ s Manu al 121 Joystic k Deadband Pr ogramming noise is generated. Sec tion “ Electrica l Noise R eduction T ec hniques ” on page 37 pro vides a f e w suggesti ons f or redu cing the amo unt of elec trical nois e generate d in you r robot.
R/C Oper ati on 12 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Command Cont rol Cu r v es The AX3500 can also be se t to translate the joy stic k motor comma nds so that the m otors respond dif f ere ntly depe nding on whether the joy stic k is near the center or near the ex tremes.
AX3500 Motor Controll er User ’ s Manu al 123 Automatic Jo ystic k Calibration The re are t w 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 .
R/C Oper ati on 12 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 hange a nd the pre viou sly stored i nforma tion wil l con- tinu e to be used.
AX3500 Motor Controll er User ’ s Manu al 125 Data Logging in R/C Mode PC ’ s communicati on port. Fi gure 84 an d belo w sho ws the w iring diagra m of the mo dified R/C cable for c onnection to a PC.
R/C Oper ati on 12 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 127 Mode Description SECTION 13 Analog Control 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 12 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 .
AX3500 Motor Controll er User ’ s Manu al 129 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 13 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 The controlle r include s two 47K ohm resis tors pull ing the in put to a mi d-vo ltage point of 2.
AX3500 Motor Controll er User ’ s Manu al 131 Analog Deadband A djustment 1 00K or higher pote ntiometer . Figure 88 sh ows ho w the output v oltage va ries at the v ari- ous pote ntiometer pos itions fo r three typical potenti ometer v alues.
Analog Control and O peration 13 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt Notice Some analo g jo ysticks do not caus e the pot entiomet er t o r eac h either extre me.
AX3500 Motor Controll er User ’ s Manu al 133 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 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 13 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 135 Use and benefits of RS232 SECTION 14 Serial (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 AX3500 in the R S2 32 mode of operation s.
Serial (RS-232) Contr ols and Operation 13 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 23.
AX3500 Motor Controll er User ’ s Manu al 137 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 13 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Commu nicat ion Set tin gs The AX3500 serial comm unication po rt is set as follo .
AX3500 Motor Controll er User ’ s Manu al 139 Establishing Manual Communica tion with a PC COM1port. Y ou can easily c hang e this set ting to a dif f e rent port from the program ’ s menu s.
Serial (RS-232) Contr ols and Operation 14 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Af ter this info rmation i s sent, the En coder ’ s MCU wi ll “ li sten ” for appr oximatel y 1 0 0ms and will enter the In Sy stem P rogramm ing mode (ISP) if the let ter “ Z ” is s en t t o i t .
AX3500 Motor Controll er User ’ s Manu al 141 Commands A c knowledge a nd Error Messages RS232 Mode if default If the con troller is configure d in R S232 mode , it will auto matically be in the R S2 32 mode upon res et or po wer up .
Serial (RS-232) Contr ols and Operation 14 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 RS-232 W atc hdog F or appl ications de manding the highe st operating s af ety , .
AX3500 Motor Controll er User ’ s Manu al 143 Controller Commands and Q ueries S et Motor Command V alue Descrip tion: Send a spe ed of positio n value from 0 to 1 27 in the f or ward or rev erse dire ction f or a given c han nel.
Serial (RS-232) Contr ols and Operation 14 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 applie d to the motors at that tim e.
AX3500 Motor Controll er User ’ s Manu al 145 Controller Commands and Q ueries Query Analog Inputs Descrip tion: Thi s query will cause the controlle r to ret urn the v alues of the signa ls present a t its two analog inputs.
Serial (RS-232) Contr ols and Operation 14 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Query Bat t ery V oltages Descrip tion: Thi s query will ca use the controlle r to.
AX3500 Motor Controll er User ’ s Manu al 147 Acc essing & Changing Configuration P arameter in Flash Syn t a x: % rrrrrr R eply: None. Controller w ill reset and displa y pro mpt message A cces.
Serial (RS-232) Contr ols and Operation 14 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 used (ins tead of reset ting the controller) to caus e these parameter s to take ef f ect af ter only a ~1 00ms del ay .
AX3500 Motor Controll er User ’ s Manu al 149 Acc essing & Changing Configuration P arameter in Flash The se param eters are stor ed in the c ontroller ’ s Flash memory and are not intended to be c hanged at r untime . Importa nt Notice The abo ve para meters are st ored in the MCU ’ s confi guration fl ash.
Serial (RS-232) Contr ols and Operation 15 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Thi s paramete rs selects the various open loop an d closed loo p operating modes as w ell as the f e edbac k m ethod.
AX3500 Motor Controll er User ’ s Manu al 151 Acc essing & Changing Configuration P arameter in Flash Thi s param eter confi gures the ra te at whi c h the c ontroller i nternally c hanges the co mmand va lue from th e one it w as to the one just receiv ed.
Serial (RS-232) Contr ols and Operation 15 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 RC Jo ystic k or Analog Deadband A ddre ss: ^06 Access: R ead/Write Eff ective: Af.
AX3500 Motor Controll er User ’ s Manu al 153 Acc essing & Changing Configuration P arameter in Flash Thi s param eter config ures the com pensatio n cur ve when mo tors are s pinning in one direc - tion vs .
Serial (RS-232) Contr ols and Operation 15 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Default PID Gains A ddre ss: ^0F - Pr opor tional G ain ^1 0 - Integr al Gain ^1 1.
AX3500 Motor Controll er User ’ s Manu al 155 Reading & Changing Operating P aram eter s at Runtime Gains v alue s are intege r number from 0 to 63.
Serial (RS-232) Contr ols and Operation 15 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt Notice: Do not wr it e in the locations mar ked as Read Only .
AX3500 Motor Controll er User ’ s Manu al 157 Reading & Changing Operating P aram eter s at Runtime A ctu al Gain v alue is the value co ntained in the register divi ded by 8. Changes take ef f ect at the contr oller ’ s nex t 1 6ms ite ration loo p.
Serial (RS-232) Contr ols and Operation 15 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Control ler Identification Regist er A ddre ss: ^8A Access: Read Only Ef f ectiv e: Instan tly Thi s registe r may be used to q uer y the Co ntroller ’ s model an d some of its option al hard- ware conf igur atio ns.
AX3500 Motor Controll er User ’ s Manu al 159 RS232 Encoder Command S et RS232 Encoder Co mmand Set The Encoder m odule res ponds to a dedicated set of com mands and queries.
16 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 While res et tin g is a single s tep comma nd, set ti ng the count ers to a no n-zero v alu e requires two step s: 1 - load a 4 b yte buf f e r (32-bit) w ith the desire d va lue.
AX3500 Motor Controll er User ’ s Manu al 161 RS232 Encoder Command S et Read Distance Descrip tion: Thi s query will cause th e controll er to ret urn the d istance between the curre nt position and the v alue in the desti nation reg ister . T he v alues are s igned H exa decimal nu mbers r anging from -1 27 to +1 27 .
16 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 R eply: 0 n Where: n = switc h st atus The relation ship betwee n the value of n and the sw itc h stat us is sho wn in the table belo w . Extracti ng the stat us of a giv en sw itc h from this numbe r is easily acc omplish ed in sof t wa re usi ng mask ing .
AX3500 Motor Controll er User ’ s Manu al 163 RS232 Encoder Command S et Exampl e: *84 Read value of parameter a t address he x 84 01 Controller r eplies, v alue i s 0 1 Modify par amet er Syn t a x.
16 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 ailur e inside the encoder mod ule.
AX3500 Motor Controll er User ’ s Manu al 165 Reg ister Descr ipt ion Speed or Distance 1 or 2 A ddre ss: *86 - Channel 1 *87 - Channel 2 The se two reg isters c ontain either the measure d speed o r the meas ured distance .
16 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 *96 *97 - Least Signific ant Byte A ddre ss: *98 - Most Significa nt Byte Destin ation 2 *99 *9A *9B - Least Sign ificant Byt e The se two 32 -bit (4-b ytes) re gisters a re used to store the d esired de stination when the controll er is used in positi on mode.
AX3500 Motor Controll er User ’ s Manu al 167 Counter Read Data Format RC P ulse Outputs A ctiv ation Address: *A5 to *AF The AX3500 has 8 pulse outp ut for command ing standard R C servos o r addition al control - lers. T he pul se width fo r ev er y c hannel can o nly be c hanged us ing simple RS2 32 com- mands.
16 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 ahead of an y number strin g starting with a digit va lue lo w er than 8 (i.e. 0 to 7). T he table belo w sho ws e xamples of this sc heme as a pplied to v arious counter v alues .
AX3500 Motor Controll er User ’ s Manu al 169 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 lications, it ma y be usef ul to allo w the c ontroller to switc h bac k to the R C mode.
17 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Controlle r is on, Rad io is t urned Of f (or R adio On with R C c h 3 Of f) • Rel ay deactiv ates. RS 232 is no w co nnected to shared i nput. • String of Car riage R et urns no w received by controller .
AX3500 Motor Controll er User ’ s Manu al 17 1 Decimal to He xadecimal Con v ersion T able logging purposes . Thi s cable ha s a 1 5 -pin male connector a nd 3 1 5 -pin conn ectors.
17 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 5 0 5 3 72 56 9 4 51 0 1 6 5 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 .
AX3500 Motor Controll er User ’ s Manu al 17 3 Decimal to He xadecimal Con v ersion T able -1 21 1 35 87 -89 1 67 A7 -57 1 99 C7 -25 231 E7 -1 20 1 36 88 -88 1 68 A8 -56 200 C 8 -24 232 E8 -1 1 9 1 .
17 4 AX3500 Moto r Controller User ’ s Man ual V ersio n 1 .9b. Ju ne 1, 2007.
AX3500 Motor Controll er User ’ s Manu al 17 5 SECTION 15 Conf iguring the Contr oller using the S witc hes The AX3500 Speed Controller can be pro grammed to ope rate in man y modes using a simpl e set-up proce dure. T wo bu t tons and a 7 -segmen t LED displ ay allo w the us er to e xamine and c hang e these set tings.
Configuring the Controller using the Switc hes 176 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 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 .
AX3500 Motor Controll er User ’ s Manu al 17 7 Pr ogramming using built-in S witc hes and Display Importa nt W arning 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 .
Configuring the Controller using the Switc hes 17 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Restoring factor y defaults Should y ou, for an y rea son, require t o rese.
AX3500 Motor Controll er User ’ s Manu al 17 9 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 180 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 *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.
AX3500 Motor Controll er User ’ s Manu al 181 SECTION 16 Using the Roborun Conf iguration Utility A PC-base d Configurat ion Utility is av ailable, free of c harge, from R obot eq. T his pro- gram makes configuri ng and op erating the AX3500 muc h mo re int uitiv e b y using pull-do wn m enus, but tons an d sliders.
Using the Roborun Configuration Utility 182 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 • af ter the installatio n is complete, r un the program from y our Start Menu > Programs > R oboteq The controller do es not nee d to be conne cted to the PC to start the Utility .
AX3500 Motor Controll er User ’ s Manu al 183 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 184 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 f eat uring the additiona l Analog Inputs 3 and 4 are auto matically identified as R ev .
AX3500 Motor Controll er User ’ s Manu al 185 Loading, Changing Controller P arameter s Loading, Changing Contr oller P arameters The first set of tabs allo ws you to view a nd c han ge the controll er ’ s pa rame ters . These t abs are grou ped accord ing to the general t ype of parameters (Controls , P o wer Se t ting, an d R/C Set tings).
Using the Roborun Configuration Utility 186 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 Thi s pull do wn men u is used to c hoose w hether the con troller will o perate in Separate or Mixed mod e. For more i nformat ion o n thes e mode s, see “ Sel ecting the Motor Control Modes ” on pag e 42.
AX3500 Motor Controll er User ’ s Manu al 187 Loading, Changing Controller P arameter s 2- Lef t/Rig ht Adjust Thi s slider will let you con figure the controller so that it ap pli es more pow er to the motors in one d irection th an in the other . See “ Lef t / Righ t T uning Adjustme nt ” on pa ge 4 9.
Using the Roborun Configuration Utility 188 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 The se fields are enabl ed only if the R/C m ode is sel ected. T hese nu mber areas will let y ou read an d modify th e R/C pulse timing in forma tion used by t he controller .
AX3500 Motor Controll er User ’ s Manu al 189 Encoder S et ting and T esting With this utili ty , the foll owing a ctions c an be acco mplishe d: • Set and pro gram the Enco der module ’ s param.
Using the Roborun Configuration Utility 19 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 The Time B ase pa rameter is used to c ompute the speed me asured b y the mod ule. T he measure d speed is a relativ e num ber rangin g from 0 to +/-1 27 .
AX3500 Motor Controll er User ’ s Manu al 19 1 Running the Motors F rom this screen, mov ing the cu rsor on an y of the 8 sliders will ca use the PC to send R C positio ning com mand to the c ontroller v ia the RS 232 port to its resp ective output.
Using the Roborun Configuration Utility 19 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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 .
AX3500 Motor Controll er User ’ s Manu al 19 3 Running the Motors case the p ow er le vel w ill be the o ne needed to keep the Amps w ithin the l imit. Note that the disp lay value is not si gned and thus does no t prov ide rotation di rection in forma tion.
Using the Roborun Configuration Utility 19 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 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. 7 - Data Logg ing and Timer A timer is prov ided to keep trac k of time while r unning the motors.
AX3500 Motor Controll er User ’ s Manu al 19 5 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 19 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 A jo ystic k test program nam e “ Joyt e st ” is automatic ally in stalled in t he Start men u when installing the R obor un utili t y .
AX3500 Motor Controll er User ’ s Manu al 19 7 Vie wing and Logging Data in Analog and R/C Modes ries. See “ RS2 32 Encode r Command Set ” on page 1 59 for the lis t of Encoder related comman ds and q ueries .
Using the Roborun Configuration Utility 19 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Operating the AX350 0 ov er a Wired or Wir eless LAN The Ro boru n utility supp orts connec tion and o peration o f the AX3500 con troller ov er a Wired or Wireless TC P/IP netw ork.
AX3500 Motor Controll er User ’ s Manu al 19 9 Updating the Controller ’ s Software Note tha t it is no t possible to use this c onfiguratio n to c h ange the con troller ’ s parameters or update the contro ller ’ s so f tware .
Using the Roborun Configuration Utility 20 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Notes: The Updating uti lity will automa tically dete ct whether the ne w sof tware is inten ded fo r the main or encoder ’ s MCU an d program o ne or the o ther acco rdingly .
AX3500 Motor Controll er User ’ s Manu al 20 1 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 202 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007.
AX3500 Motor Controll er User ’ s Manu al 203 Mec hanical D imensions SECTION 17 Mec hanical Specif ications Th is sect ion details the mec hanical c haracte ristics o f the A X3500 contr oller . Mec h anical Dimensions The AX3500 is del ivered a s an as sembled and tested Prin ted Circuit B oard.
Mec hanical Speci fications 204 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007 Mounting Co nsideratio ns The AX35 00 ’ s heats ink is loc ated at the bo t tom of the boar d. This requires th erefore that the board be mounte d with sp acers that a re at mini mum 0.
AX3500 Motor Controll er User ’ s Manu al 205 At tac hing the C ontrolle r Directly t o a Chassis boar d against a vertica l surf ace as sho wn in the figu re belo w will ensure a bet ter na tura l con vectio n flo w and is, the refore , recommen ded.
Mec hanical Speci fications 206 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007 Note tha t the bac k of the PCB h as large co pper areas expos ed just u nder the po w er MOS area.
AX3500 Motor Controll er User ’ s Manu al 207 Wire Dimensions Wire Dimensions The AX3500 uses F ast-on tabs fo r the po wer connecti ons to the bat teries a nd motors. The se connec tors are rated to suppo rt the controll er ’ s maximum specifi ed current.
Mec hanical Speci fications 208 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007.
デバイスRoboteQ AX3500の購入後に（又は購入する前であっても）重要なポイントは、説明書をよく読むことです。その単純な理由はいくつかあります：
RoboteQ AX3500をまだ購入していないなら、この製品の基本情報を理解する良い機会です。まずは上にある説明書の最初のページをご覧ください。そこにはRoboteQ AX3500の技術情報の概要が記載されているはずです。デバイスがあなたのニーズを満たすかどうかは、ここで確認しましょう。RoboteQ AX3500の取扱説明書の次のページをよく読むことにより、製品の全機能やその取り扱いに関する情報を知ることができます。RoboteQ AX3500で得られた情報は、きっとあなたの購入の決断を手助けしてくれることでしょう。
RoboteQ AX3500を既にお持ちだが、まだ読んでいない場合は、上記の理由によりそれを行うべきです。そうすることにより機能を適切に使用しているか、又はRoboteQ AX3500の不適切な取り扱いによりその寿命を短くする危険を犯していないかどうかを知ることができます。
ですが、ユーザガイドが果たす重要な役割の一つは、RoboteQ AX3500に関する問題の解決を支援することです。そこにはほとんどの場合、トラブルシューティング、すなわちRoboteQ AX3500デバイスで最もよく起こりうる故障・不良とそれらの対処法についてのアドバイスを見つけることができるはずです。たとえ問題を解決できなかった場合でも、説明書にはカスタマー・サービスセンター又は最寄りのサービスセンターへの問い合わせ先等、次の対処法についての指示があるはずです。
