RoboteQメーカーDual Channel Digital Motor Controller AX500の使用説明書/サービス説明書
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AX50 0 Dual Chann el Digital Motor Contr oller User ’ s Manual v1 .9b, Jun e 1, 2007 visit www .ro boteq. com to d ownload th e latest revision o f this man ual ©Cop yright 2003-2007 R obote q, Inc.
2 AX500 Motor Contro ller User’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s Manual 3 Revision History The inf ormation contained in this man ual is beli ev ed to be accura te and reli able. Ho we ver , it ma y contain e rrors that w ere not no ticed at ti me of publ ication.
4 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 5 Re vision Hi story 3 SECTION 1 Impo rt ant S af et y W arn ings 11 This produc t is inte nded for use with rec harge able ba t terie s 11 A void Sho rts wh.
6 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 SECTION 5 Genera l Operat ion 35 Ba sic Oper ation 35 Inpu t Com mand Modes 35 Selec ting the Moto r Control Mo des 36 Open L.
AX500 Motor Contro ller User ’ s M anual 7 P osi tion Sensor Selection 64 Sensor M ounting 64 F eedbac k P o tentiomet er wiring 65 F eedbac k P o tentiomet er wiring in RC or RS232 Mode 65 F eedbac.
8 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Reception W atc hdog 87 R/C T ran smit ter /Receiver Qua lity Consid erations 88 Jo ystic k Deadband P rogrammin g 88 Comman .
AX500 Motor Contro ller User ’ s M anual 9 Quer y Di gita l Inputs 111 Re set Control ler 111 Ac cessi ng & Chan ging Config urati on P arameter i n Flash 11 2 Apply Parameter Changes 11 2 Flash.
10 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Operating the AX50 0 over a Wired or W ireless LAN 14 4 Upda ti ng the C ontr olle r ’ s Sof tware 146 Upda ting the En co.
AX500 Motor Contro ller User ’ s M anual 11 SECTION 1 Impor tant S afety W arnings Read this Section First The AX500 is a pow er electr onics devi ce. Ser ious damag e, including fir e, may occur t o the unit, m otors , wir ing and bat te ri es as a r esult of its m isuse.
Imp ortant S afety Wa rnings 12 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 13 SECTION 2 AX50 0 Quic k Star t Thi s sectio n will g ive you t he basic inf ormation needed to quic kly install, s et up and r un y our AX500 controll er in a mi nimal co nfiguratio n.
AX50 0 Quic k Star t 14 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The front side co nt ains the 1 5-pin connector to the R/C radio, jo ysti c k or mic rocomputer , as we ll as co nnecti ons to optional switc hes and senso rs.
AX500 Motor Contro ller User ’ s M anual 15 Connecting to the Bat teries and Moto r s Connecting to the Bat teries and Motors Connecti on to the ba t teries and m otors is sho wn in the figure bel ow a nd is done by c on- necting wires to the c ontroller ’ s terminal strip.
AX50 0 Quic k Star t 16 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Importa nt W arning The contr oller includes lar ge capa citors. When co nnecting the M otor P ow er Cables, a spar k will be g enerat ed at the co nnection point.
AX500 Motor Contro ller User ’ s M anual 17 P o wering On the Controller Thi s wiring - with the wi re loop un cut - ass umes that the R/C radio w ill be po wered b y the AX500 controlle r . Other wiri ng options ar e describe d in “ R/C Operation ” on page 81 of the User ’ s Manu al.
AX50 0 Quic k Star t 18 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The stat us LED wil l start flashing a pat tern to indi cate the mod e in whic h the controll er is in: Defaul t Controller Conf igura tion V ersion 1 .9b of the AX500 sof tware is con figured with the f a ctory defa ults sho wn in th e table belo w .
AX500 Motor Contro ller User ’ s M anual 19 Obtaining the Controller ’ s Sof tware Revisio n Numbe r • to update th e controll er ’ s sof t w are T o connect the contro ller to your PC, use the provid ed cable. Connect the 1 5-pin connector to the c ontroller .
AX50 0 Quic k Star t 20 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Eac h sof tware v ersion is identi fied with a u nique num ber .
AX500 Motor Contro ller User ’ s M anual 21 SECTION 3 AX50 0 Motor Contr oller Ov er vie w Congrat ulations! B y selec ting R oboteq ’ s AX500 you ha ve empo were d you rself wi th the indu str y ’ s most v ersatil e, an d progra mmable DC Motor Control ler for mobile robots.
AX50 0 Motor Controller Ov erview 22 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 ate from 1 2 to 24VD C and can sustai n up to 1 5A of controlled c urre nt, deliv ering up to 360W (appro ximately 0 .5 HP ) of useful po wer to eac h motor .
AX500 Motor Contro ller User ’ s M anual 23 T ec hnical features • User defi ned purpos e (R S232 mod e only) • One S witc h inpu t configura ble as • Emergenc y stop comman d • R ev ersing .
AX50 0 Motor Controller Ov erview 24 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 • W atc hdog f or autom atic moto r shutdo wn in case of comma nd loss (R/C and RS 232 m.
AX500 Motor Contro ller User ’ s M anual 25 P o wer Connections SECTION 4 Connecting P o w er and Motor s to the Contr oller This se ction de scrib es th e AX50 0 Co ntroll er ’ s connections to po wer sou rces and mo tors. Importa nt W arning Please f ollow the instr uction s in this sectio n very car efully .
Connecting P ower and Motors to the Controller 26 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Co ntro ll er P ower The AX500 uses a flexibl e pow er supply sc heme that is best desc ribed in Figure 8.
AX500 Motor Contro ller User ’ s M anual 27 Controller P owe ring Sc hemes The table belo w sho w s th e state of the co ntroller de pending o n the v oltage appl ied to Vcon an d Vmot.
Connecting P ower and Motors to the Controller 28 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The re is no n eed to inser t a separate switc h on P owe r cables, although .
AX500 Motor Contro ller User ’ s M anual 29 Single Channel O peration Af ter connecti ng the moto rs, ap ply a minim al amoun t of po wer using the Robor un PC util- ity with the control ler config ured in Open L oop speed mode. V erify that the motor s pins in the desi red directi on.
Connecting P ower and Motors to the Controller 30 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Con verting the AX50 0 to Single Channel The AX500 can be easi ly modifie d into a Singl e Channel v ersi on by pla cing a jump er on the PCB .
AX500 Motor Contro ller User ’ s M anual 31 Wire Length Limits Fuses are typ icall y slow to blow a nd wi ll thus all ow temporary excess curr ent to fl ow thr ough them for a time (the higher the ex cess cur rent, the f aste r the fuse will blo w).
Connecting P ower and Motors to the Controller 32 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 It is ther efo re essent ial that the AX 500 be connec ted to rec hargeab le bat teries.
AX500 Motor Contro ller User ’ s M anual 33 Using the Controlle r with a P ow er Supply Using the Contro ller wit h a P ow er Supply Using a transf ormer o r a switc hing po wer supp ly is po ssible b ut requires special c are, as the cur rent will want to flow bac k from the moto rs to the po we r supply during reg enera- tion.
Connecting P ower and Motors to the Controller 34 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 35 Basic Operat ion SECTION 5 General Operation Thi s sectio n discusses the co ntroller ’ s normal op eration in all i ts suppor ted operating mode s.
General O peration 36 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Selecting the Moto r Control Modes F or eac h motor , the AX5 00 supports multip le motion control m odes. T he con troller ’ s fac - tory def ault mode is O pen L oop Speed control f or eac h motor .
AX500 Motor Contro ller User ’ s M anual 37 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this m ode, illu strated in Figure 1 6, an analog tac hometer is used to measure th e act ual motor sp eed. If the speed c han ges beca use of c hanges in load, th e control ler automa tically compen sates the pow er outp ut.
General O peration 38 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 User Selected Current Limit Set tings The AX500 has cur rent sens ors at ea c h of its two ou tput stages. Ev er y 1 6 ms , this curr ent is mea sured and a correcti on to the o utput po we r lev el is applied if higher than the us er preset v alue.
AX500 Motor Contro ller User ’ s M anual 39 Battery Cu rren t vs . Mot or Cur ren t The numb ers i n the tab le ar e the ma x Amp s allowed by the c ontr oller at a gi ven temp era- t ure poin t.
General O peration 40 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The relation between B at ter y Cur rent and Motor cur rent is gi ven in the f ormula b elow: Motor Cu r .
AX500 Motor Contro ller User ’ s M anual 41 Pr ogrammable Accel eration When usi ng the seria l port, acc eleration ca n be one of 24 possible val ues, sele ctable using the R obor un utility or enteri ng directl y a va lue in the MCU ’ s configur ation EEPR OM.
General O peration 42 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 an equall y lar ge, or possibly larg er , reg ener ation cur re nt sur ge. Alwa ys exper iment with the lo west acceler ation v alue first and set tle fo r the slo w est accep table v alue.
AX500 Motor Contro ller User ’ s M anual 43 Lef t / Right T uning Adjustment The AX50 0 i s deliver ed wit h the “ li near ” curves sel ected f or bot h joy stic k c hannels. T o select di f f erent cur ve s, the user wil l need to c hange the v alues of “ E ” (c hann el 1) an d “ F ” (c hannel 2) ac cording to the table belo w .
General O peration 44 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 is f ound on a ll R/C trans mit ters, and w hic h is act ually an of fset cor rection, th e Lef t/Right A.
AX500 Motor Contro ller User ’ s M anual 45 Activ ating Brake Release or Separate Motor Ex cita tion Activ ating Br ak e Releas e or Separate Moto r Ex cit ation The controlle r may b e configu red so tha t the Outpu t C will t urn On whene ver o ne of the two moto rs is r unning.
General O peration 46 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Special Use of Accessory Digital Inputs The AX500 include s two gen eral purpo se digital in puts identifie d as Inpu t E and Inp ut F .
AX500 Motor Contro ller User ’ s M anual 47 AX50 0 Connections SECTION 6 Connecting S e nsor s and A ctuator s to Input/Outputs Thi s sectio n descri bes the v arious inputs and ou tputs and prov ides gui dance on how 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 48 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 AX50 0 ’ s Inputs an d Outputs In additio n to the RS2 32 and R/C c hannel commun ication li nes, the AX500 includes se veral inputs a nd output s for v a rious sensors a nd act uators.
AX500 Motor Contro ller User ’ s M anual 49 AX50 0 ’ s Inputs and Outputs When the controller operates i n modes that do not use the se I/O , these s ignals b ecome av ailable f or use r applicat ion. Belo w is a summary of the av ailable sign als an d the mode s in whic h the y are used b y the controller or av ailable to the use r .
Connecting S ensor s and A ctuators to Input/Outputs 50 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 I/O List an d Pin Assi gnment The figu re and ta ble below li sts al l the i nput s and ou tputs that a re available on the A X50 0.
AX500 Motor Contro ller User ’ s M anual 51 Connecting devic es to Output C **T hese con nections should only be d one in R S232 mo de or R/C m ode with rad io po w- ered from the con troller . Connecti ng devi ces to Output C Output C is a buf f ered, Open Drain MOSFE T output capable of drivin g ov er 2A at up to 24V .
Connecting S ensor s and A ctuators to Input/Outputs 52 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Importa nt w arning: This output is unpr otect ed. If y our load dra ws mor e than 1 00mA, per manent d amage will occur t o the pow er tr ansistor i nside the co ntr oller .
AX500 Motor Contro ller User ’ s M anual 53 Connecting S witc hes or De vices to EStop/In vert Input The status of Input F ca n be read in the RS 232 mode with the ?i comma nd string. The co n- troller w ill resp ond with three sets o f 2 dig it numbers .
Connecting S ensor s and A ctuators to Input/Outputs 54 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The stat us of the ES top/In v can be read at all times in the R S232 mod e with the ?i com- mand s tring. The con troller wil l respond w ith three se ts of 2 dig it numbers.
AX500 Motor Contro ller User ’ s M anual 55 Connecting T ac hometer to Analog Inputs Connecti ng the pote ntiomet er to the co ntroller is as simple as sho wn in the diagr am on Figur e 28. The potentiom eter must be at tac hed to the motor fra me so th at its body does no t mov e in relation ship wit h the motor .
Connecting S ensor s and A ctuators to Input/Outputs 56 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Since th e controll er only acc epts a 0 to 5V positiv e voltage as its.
AX500 Motor Contro ller User ’ s M anual 57 Connecting External Thermistor to Analog Inputs Connecti ng External Thermi stor to An alog Input s Using exter nal thermis tors, the AX500 can be m ade to supe r vise the motor ’ s temperat ure and ad just the po wer ou tput in ca se of o ve rheating.
Connecting S ensor s and A ctuators to Input/Outputs 58 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 T o read the tem pera ture, us e the ?p command to ha ve t he controller return the A/D con- ve rter ’ s value. T he value is a si gned 8-bi t hex adecima l valu e.
AX500 Motor Contro ller User ’ s M anual 59 Connecting User De vices to Analog Inputs Meas ur ed volts = ((contr oller r e ading + 128) * 0 .255) -5 Note: The A/D con ver ter ’ s reading is retu rned b y the ?p comma nd and is a signe d 8-bit hex adecim al v alue.
Connecting S ensor s and A ctuators to Input/Outputs 60 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 using th e ?m quer y , or during data logging (see “ Analog and R/ C Modes Data L ogging String F ormat ” on page 1 26) The analog val ue that is reported w ill range from 0 (w armest) to 255 (c oldest).
AX500 Motor Contro ller User ’ s M anual 61 Internal Heats ink T emperature S ensors HiTemp = LoTemp + 5; lobound = TempTable[i]; hibound = TempTable[i+1]; temp = LoTemp + (5 * ((AnaValue - lobound).
Connecting S ensor s and A ctuators to Input/Outputs 62 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 63 Mode Description SECTION 7 Closed Loop P osition Mode Thi s sectio n describes the AX500 P osition mode, ho w to wire the mo tor and positi on sen- sor assem bly and how to tu ne and op erate the contro ller in th is mode.
Closed Loop P osition Mode 64 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 P osition S ensor S election The AX500 may be used with the f ollowing kind of s ensors: • P ot.
AX500 Motor Contro ller User ’ s M anual 65 Feedba c k Potentiometer wiring manner tha t will allo w it to t urn throug hout muc h of its rang e, when th e mec hanical assembl y tra vels from the m inimum to maximum position . Impor tant Notice: P ote ntiomete rs ar e mec hanical devic es subject t o wear .
Closed Loop P osition Mode 66 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 R obor un will detect the new hardw are re vision and dis play Rev B on th e screen .
AX500 Motor Contro ller User ’ s M anual 67 Sensor and Motor P olarity Feedbac k Wiring in Analog Mode on Single Channel Control lers When the controller is config ured in Ana log mode , the anal og input 1 is used f or com- mands while the anal og input 4 is used for f eedbac k.
Closed Loop P osition Mode 68 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 3. Loo sen the s ensor ’ s axle from the moto r assembly . 4. Launc h the Robor un utility and c lic k on the R un t ab. Clic k the “ Start ” but ton to begin commun ica tion wit h the co ntrol ler .
AX500 Motor Contro ller User ’ s M anual 69 Adding S afety Limit Switc hes in an attempt to reac h a fic titi ous po sition . In ma ny applic ations, this may lead to se riou s mechanical dama ge.
Closed Loop P osition Mode 70 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The principa l restrict ion of this tec hnique is tha t it depen ds on the controller to be fully function ing, and that once a sw itc h is activ ated, the controll er will remain in active until the switc h is rel eased.
AX500 Motor Contro ller User ’ s M anual 71 PID tuning in P osition Mode tance betwee n the cur rent and desired po sitions: when f ar apar t, high pow er is app lied, with the pow er being gradua lly reduc ed and st opped as th e motor mo ves to the final pos i- tion.
Closed Loop P osition Mode 72 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 B ecause man y mec hanical pa rameters suc h as motor pow er , gear ratio, lo ad and inertia are dif ficult to mo del, t uning the PID is ess entially a manual process that takes e xperimenta- tion.
AX500 Motor Contro ller User ’ s M anual 73 Mode Description SECTION 8 Closed Loop Speed Mode Thi s section dis cusses the AX500 Close Lo op Speed mode. Mode Desc ription In this mo de, an an alog spee d sensor m easures the act ual moto r speed an d compare s it to the desi red speed .
Closed Loop Speed Mode 74 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 T ac hometer or Encoder Mounting P roper moun ting of the speed se nsor is c ritical f or an ef f ective a nd accu rate spee d mode operatio n. Figu re 1 sho ws a typica l motor an d tac hometer or enc oder asse mbly .
AX500 Motor Contro ller User ’ s M anual 75 Adjus t Off set and Max Speed Importa nt W arning: If ther e is a polar ity mismatc h, the mot or will tur n in the wr ong dir ection and the speed w ill nev er be r eached .
Closed Loop Speed Mode 76 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 T o set the po tentiometer , use the Robor un utility to r un the m otors at the desired maxi- mum spe ed while in Open Loop mode (no speed f eedbac k).
AX500 Motor Contro ller User ’ s M anual 77 PID tuning in Speed Mode PID tuning in Speed Mo de As di scusse d abo ve, three paramet ers - P roportional Gain, Integral Ga in, and D if fere ntial Gain - can b e adjusted to tune th e Closed L oop Speed control alg orithm.
Closed Loop Speed Mode 78 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 79 Diagnostic LED SECTION 9 Normal and F ault Condition LED Messages Thi s sectio n discus ses the meaning of the v arious message s and code s that m ay be dis- pla yed on the LED d ispla y during normal operation and f ault cond itions.
Normal and F ault Condition LED Messages 80 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Output Of f / F ault Conditio n The contr oller LE D will tun On so lid to si gnal th at the ou tput st age i s of f as a r esult of a any of the recov erable conditio ns listed be lo w .
AX500 Motor Contro ller User ’ s M anual 81 Mode Description SECTION 10 R/C Operation Thi s section describes the c ontroller ’ s wiring and functio ns specific to the R/C radio control mode. Mode Des cription The AX500 can be dire ctly con nected to an R/C receiv er .
R/C Oper ati on 82 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 S electing the R/C Input Mode The R/C Input Mo de is the f actor y def ault set ting. If the con troller ha s been pre viously set to a dif fer ent Inpu t Mode, it w ill be nece ssary to reset it to the R/C mode us ing the s erial port and the PC util ity .
AX500 Motor Contro ller User ’ s M anual 83 R/C Input Circuit Description R/C Inpu t Circuit Description The AX500 R/C inputs are dire ctly con nected to the MCU log ic.
R/C Oper ati on 84 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 . P ow ering the Radio fro m the controller The 5V po w er and gro und signal s that are av ailable on the controlle r ’ s conne ctor ma y be used to pow er the R/C radio.
AX500 Motor Contro ller User ’ s M anual 85 Connecting to a S eparately P owe red Radio Importa nt W arning Do not conne ct a bat t ery to the rad io when in thi s mode. The bat tery v oltag e will flow dir ectly int o the contr oller and cause per mane nt damag e if i ts v oltag e is h igher than 5.
R/C Oper ati on 86 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 to the c ontroller does not i nject po wer into the contro ller . T h e fi gure belo w show th e cable with the loop cut. Figure 56 shows the equiv alent electric al diagram.
AX500 Motor Contro ller User ’ s M anual 87 Reception W atc hdog the con troller ca pture s the ful l jo ystic k mo ve ment, the A X500 def aults to the timing v alues sho wn in Fi gure 57 . The se v ales can b e c hanged and stored as ne w def aults.
R/C Oper ati on 88 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Note: th e Acc essor y Ou tputs C will b e turn ed Of f when radio is lost.
AX500 Motor Contro ller User ’ s M anual 89 Command Control Curves The deadban d is mea sured as a percen t age of total normal joy stic k tra ve l. F or example , a 1 6% deadban d means tha t the first 1 6% of jo ystic k motion in either dire ction wi ll ha ve no ef fec t on the mo tors.
R/C Oper ati on 90 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Lef t/Right T uning A d justment When ope rating in m ixe d mode wi th one moto r on eac h side of the robot.
AX500 Motor Contro ller User ’ s M anual 91 Data Logging in R/C Mode Data Logg ing in R/C Mode While in R/C Mode, the AX500 will co ntinuous ly send a s tring of c haracte rs on the R S232 output line. T his string will contain 1 2 two-di git he xadeci mal numb ers repr esenting the fol - low ing operatin g parame ters.
R/C Oper ati on 92 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 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 Controller FIGURE 61 .
AX500 Motor Contro ller User ’ s M anual 93 Mode Description SECTION 1 1 Analog Contr ol and Operation Thi s sectio n descri bes ho w the mo tors ma y be op erated us ing anal og v oltage comma nds.
Analog Control and O peration 94 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Connector I/O Pin Assi gnment (Anal og Mode) 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 table belo w T ABLE 1 4.
AX500 Motor Contro ller User ’ s M anual 95 Connecting to a V oltage S ource Connecting to a V oltage Source The analog inputs e xpect a DC v olt age o f 0 to 5V w hic h can be so urced b y an y cust om cir- cuitr y (po tent iomet er , Di git al to Analo g converter ).
Analog Control and O peration 96 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The controlle r incl udes two 47K ohm re sistors p ulling the input to a mid-v oltage point of 2.
AX500 Motor Contro ller User ’ s M anual 97 Analog Deadband A djustment Analog D eadband A djustment The controlle r may b e configu red so that some amoun t of potentio meter or jo ystic k trav el of f its center position is requi red befo re the motors activ ate.
Analog Control and O peration 98 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Importa nt Notice Some analo g jo ystic ks do not c ause the pot entiomete r to reac h either extr eme.
AX500 Motor Contro ller User ’ s M anual 99 Data Logging in Analog Mode Data in Analog a nd R/C Modes ” on page 1 44) . It may also be stor ed in a PD A t hat ca n be placed in the mo bile robot. The string a nd data fo rmat is de scribed in “ Ana log an d R/C Mo des Dat a Loggin g Stri ng For- mat ” on page 1 26.
Analog Control and O peration 10 0 AX500 Motor Controller U ser ’ s Manu al V ersion 1 .9b. Ju ne 1, 2007.
AX500 Motor Contro ller User ’ s M anual 101 Use and benefits of RS232 SECTION 12 Serial (RS-232) Contr ols and Operation Thi s sectio n descri bes the co mmunica tion set tings and the c ommands accepted b y the AX500 in the R S232 mode of ope rations.
Serial (RS-232) Contr ols and Operation 10 2 AX50 0 Motor Controller Us er ’ 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 mode, the pins on the control ler ’ s DB1 5 connec tor are ma pped as des cribed in the table belo w T ABLE 16.
AX500 Motor Contro ller User ’ s M anual 10 3 Cable configuration Cabl e conf ig uration The R S232 con nection re quires the s pecial cabling as descri bed in the figure be low . T he 9- pin f emale co nnector pl ugs into th e PC (or othe r microco ntroller).
Serial (RS-232) Contr ols and Operation 10 4 AX50 0 Motor Controller Us er ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Commu nicat ion Set tings The AX50 0 ser ial co mmuni catio n port is set a s foll.
AX500 Motor Contro ller User ’ s M anual 10 5 Establishing Manual Communica tion with a PC COM1port. Y ou can easily c hange this set ting to a dif f erent port from the program ’ s menu s.
Serial (RS-232) Contr ols and Operation 10 6 AX50 0 Motor Controller Us er ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Thi s inf ormation c an be s af ely ign ored and t he control ler will stil l be able to switc h to R S232 mode upon r eceiving 1 0 cont inuous Ca rriage Re turns as des cribed ab ov e.
AX500 Motor Contro ller User ’ s M anual 10 7 RS-232 Watc hdog W atc hdog time-out If the R S232 watc hdog i s enabled, th e controll er will stop the motors and issue a “ W ” c haracter if it h as not rec eived a va lid c haracter fro m the PC or microcontro ller with in the past 1 second s.
Serial (RS-232) Contr ols and Operation 10 8 AX50 0 Motor Controller Us er ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 S et Motor Command V alue Descrip tion: Send a spe ed of positio n value from 0 to 1 27 in the forward or re vers e direction f or a given c hannel.
AX500 Motor Contro ller User ’ s M anual 10 9 Controller Commands and Q ueries !C t urn C output of f !c t urn C output on Query P o wer Appli ed to Motor s Descrip tion: Thi s query will cause the co ntroller to r eturn the act ual amo unt of po we r that is bein g applie d to the motors at that time.
Serial (RS-232) Contr ols and Operation 11 0 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Importa nt Notice On the AX500, the numb er ret urned b y the ? a comm and must be.
AX500 Motor Contro ller User ’ s M anual 111 Controller Commands and Q ueries Query Bat tery V oltages Descrip tion: Thi s query wil l cause the contro ller to ret urn v alues base d on two interna lly measured v olt- ages: t he first is the Main B at ter y v oltage present a t the thic k red and blac k wires.
Serial (RS-232) Contr ols and Operation 11 2 AX50 0 Motor Controller Us er ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 R eply: None. Controller w ill reset and disp lay pro mpt messa ge A ccessing &.
AX500 Motor Contro ller User ’ s M anual 11 3 Acc essing & Changing Configuration P arameter in Flash Syn t a x: ^FF R eply: + Succe ss, c hange d para mete rs are now ac tive - if erro r T able 1 8 be low lis ts the compl ete set of configuration paramete rs that ma y be acce ssed and c hanged using R S232 commands.
Serial (RS-232) Contr ols and Operation 11 4 AX50 0 Motor Controller Us er ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 The se param eters are st ored in th e controller ’ s Flash memor y and a re not intended to be c hanged a t runti me. Importa nt Notice The abo ve p arameters are st ored in the MCU ’ s configura tion flas h.
AX500 Motor Contro ller User ’ s M anual 11 5 Acc essing & Changing Configuration P arameter in Flash Thi s paramete rs selects the vari ous open loo p and close d loop operati ng modes as well as the f eedbac k method.
Serial (RS-232) Contr ols and Operation 11 6 AX50 0 Motor Controller Us er ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 A cceleration A ddre ss: ^03 Access: R ead/Write Eff ective: Af ter Reset or ^FF T.
AX500 Motor Contro ller User ’ s M anual 11 7 Acc essing & Changing Configuration P arameter in Flash RC Jo ystic k or Analog Deadband A ddre ss: ^06 Access: R ead/Write Eff ective: Af ter Reset.
Serial (RS-232) Contr ols and Operation 11 8 AX500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s parameter c onfigures the transf er cur v e that is a pplied the input comma nd.
AX500 Motor Contro ller User ’ s M anual 11 9 Reading & Changing Operating P arameters at Runtime Jo ystic k Min, Max and Center V alues Address: ^12 - Joystick Cen ter 1 MS ^13 - J oys tick Ce .
Serial (RS-232) Contr ols and Operation 12 0 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The table belo w lists the a vaila ble para meters Importa nt Notice: Do not wr ite i n the locations ma r k ed as Read Only . Doing so m y cause Contr oller malfunction .
AX500 Motor Contro ller User ’ s M anual 12 1 Reading & Changing Operating P arameters at Runtime Read/Change PID V alues A ddre ss: ^82 - P1 ^83 - I1 ^84 - D1 ^85 - P2 ^86 - I2 ^87 - D2 Access: R ead/Write Ef f ectiv e: Instan tly The Pro portional, Integral and Deri vati ve ga in for eac h cha nnel can be read and c hanged on- the-fly .
Serial (RS-232) Contr ols and Operation 12 2 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 The Controller Status R egis ter can b e polled at an y time to s ee if there is a pendi ng f ault conditi on. Any on e bit set will caus e the controller to t urn of f the P ow er Output stage.
AX500 Motor Contro ller User ’ s M anual 12 3 Reading & Changing Operating P arameters at Runtime The se registe rs can be po lled to vie w what the Amps limit i s at the curren t time.
Serial (RS-232) Contr ols and Operation 12 4 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 12 5 Automatic S w itc hing from RS232 to RC Mode Automatic Switc hing from RS23 2 to RC Mod e In man y computer contr olled app lication s, it ma y be u seful to a llow the controll er to switc h bac k to the R C mode.
12 6 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Controlle r is on, Rad io is t urned Of f (or Radio On w ith RC c h3 Of f) • Rel ay deactiv ates. RS 232 is now connect ed to shar ed inpu t. • String of Car riage R et urns no w receiv ed b y controller .
AX500 Motor Contro ller User ’ s M anual 12 7 Decimal to He xadecimal Con version T able logging purposes . Thi s cable has a 1 5-pin m ale conn ector and 3 1 5-pi n connectors .
12 8 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 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 .
AX500 Motor Contro ller User ’ s M anual 12 9 Decimal to He xadecimal Con version 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 C8 -24 232 E8 -1 1 9 1 37 .
13 0 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
AX500 Motor Contro ller User ’ s M anual 13 1 SECTION 13 Using the Roborun Conf iguration Utility A PC-base d Configurat ion Utility is av ailabl e, free of c harge, from R oboteq. This pro- gram mak es configu ring an d operatin g the AX500 muc h more int uitive b y using pull- dow n menus, but tons and s liders.
Using the Roborun Configuration Utility 13 2 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 • af ter the insta lla tion is complete, r un the program from your Start Menu > Pro grams > R oboteq The controlle r does not nee d to be conne cted to the PC to start the Utility .
AX500 Motor Contro ller User ’ s M anual 13 3 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 s et of co mmands and inf ormation frames des cribe d below: 1 - Progr am Revision N umber Thi s is the revis ion and da te of the R obor un utility .
Using the Roborun Configuration Utility 13 4 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 This i s th e prog ram ’ s main frame an d includ es se ve ral types o f tabs, eac h of w hic h has se v- eral but tons, menus a nd other Use r Interf ace o bjects.
AX500 Motor Contro ller User ’ s M anual 13 5 Loading, Changing Controller P arameters When starting Rob orun , this sc reen is fille d with the defa ult v alues. If the controller is con- nected to you r PC, Ro boru n will a utomatically d etect it an d ask y ou if y ou wish to read its set ting s.
Using the Roborun Configuration Utility 13 6 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 4- Emer g ency St op or In ver t Switc h Sele ct Thi s pull do wn menu allo ws the se lection of the control ler ’ s response to c hanges on th e opti onal sw itc h in put: Emerge ncy St op, I nv ert C omman ds, or n o acti on.
AX500 Motor Contro ller User ’ s M anual 13 7 Loading, Changing Controller P arameters accelera te a motor fro m idle to ma ximum speed . See “ P rogrammab le Ac celeration ” on page 40. Analog or R/C Specif ic S et tings The screen sho wn in Figure 7 8 slightly c hanges in func tion of whe ther or not th e Analog Input mode is sel ected.
Using the Roborun Configuration Utility 13 8 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Closed Loop P arameters The screen s how n in Figure 7 9 is used to set the Propo rtional, In tegral and Dif feren tial gains needed f or the PID algorithm.
AX500 Motor Contro ller User ’ s M anual 13 9 Running the Motors 1 - Run/St op Butt on Thi s but ton will cause the P C to send th e r un comman ds to the c ontroller a nd will update the scre en with measure ments receiv ed from the controll er . When the progra m is runni ng, the but ton ’ s ca ptio n c hange s to “ Sto p ” .
Using the Roborun Configuration Utility 14 0 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 case the p ow er lev el will be th e one need ed to k eep the Amps within th e limit. No te that the disp lay va lue is no t signed and thus does not pro vide ro t ation direction info rmation.
AX500 Motor Contro ller User ’ s M anual 14 1 Running the Motors A timer is pro vided to ke ep trac k of time while runn ing the motors. An addition al set of but- tons and displa y s are pro vided to ope rate a data logge r . T he data logger is fully desc ribed in the se ction th at follows.
Using the Roborun Configuration Utility 14 2 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Connecting a Jo ystic k Exe rcising the moto rs can e asily be do ne using a J oy stic k in add ition to the on-scree n slid- ers.
AX500 Motor Contro ller User ’ s M anual 14 3 Using the Console dev elopment as you w ill be abl e to visu alize, in real-ti me, the robo t ’ s Am ps cons umpt ion and othe r vital statistics during a ctua l operati ng condit ions. Figure 8 0 sho ws the Co nsole Sc reen and i ts v arious co mponents .
Using the Roborun Configuration Utility 14 4 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Clic king this but ton will caus e Rob orun to send te n consec utive “ Carriage R e t urn ” c h arac- ter .
AX500 Motor Contro ller User ’ s M anual 14 5 Operating the AX50 0 o ver a Wired or Wirele ss LAN T o oper ate over th e net work, two co mputer s are requir ed, as show in F igur e 8 2 bel ow . The top comp uter is co nnected to the contro ller via its COM port.
Using the Roborun Configuration Utility 14 6 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Updating th e Contr oller ’ s Sof tw are The AX50 0 ’ s operat ing so f t ware c an be ea sily up graded af ter it h as lef t the f actory .
AX500 Motor Contro ller User ’ s M anual 14 7 Creating Cust omized Object Files Do not r einstall the same fir mwar e version a s the one al r eady instal led in the encoder m odule.
Using the Roborun Configuration Utility 14 8 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 8- Install the ne w objec t file in t he control ler using the Ro boru n utility .
AX500 Motor Contro ller User ’ s M anual 14 9 Mec hanical Dimensions SECTION 14 Mec hanical Specif ications Thi s sectio n details the mec hanical c hara cteristics o f the AX5 0 0 c ontroller . Mec hanical Dimensions The AX500 is deli vered as an assem bled and tested P rinted Ci rcuit B oard.
Mec hanical Specifications 15 0 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Mounting Co nsideratio ns The AX 5 0 0 ’ s heatsink is located at the bot tom of the boar d. Thi s requires therefo re that the boar d be mounte d with spac ers that ar e at mini mum 0.
AX500 Motor Contro ller User ’ s M anual 15 1 At tac hing the Controlle r Directl y to a Chassis boar d against a verti cal surf ace as sho wn in the figure belo w will ensu re a bet ter nat ural con vec tion flo w and is, the ref ore, recom mended.
Mec hanical Specifications 15 2 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007 Note tha t the bac k of the PCB has large copper ar eas e xposed jus t under the pow er MOS area.
AX500 Motor Contro ller User ’ s M anual 15 3 Wire Dimensions Wire Dimensions The AX500 uses scre w terminals f o r the p ow er conn ections t o the bat teries an d motors. The se conn ectors are rated t o support the c ontroller ’ s maxim um spec ified cur rent.
Mec hanical Specifications 15 4 AX500 Motor Contro ller User ’ s Manual V ersio n 1 .9b. J une 1, 2007.
デバイスRoboteQ Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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 Dual Channel Digital Motor Controller AX500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。
