Roboteq Dual Channel Digital Motor Controller AX2550 Manuel d'utilisateur Page 144
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
Serial (RS-232) Controls and Operation
144 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
Controller Identification Register
Address: ^8A
Access: Read Only
Effective: Instantly
This register may be used to query the Controller’s model and some of its optional hard-
ware configurations.
Current Amps Limit Registers
Address: ^8B - Channel 1
^8C - Channel 2
Access: Read Only
Effective: Instantly
These registers can be polled to view what the Amps limit is at the current time. This limit
normally is the one that is preset by the user except when the controller is operating at
high temperature, in which case the allowable current drops as temperature rises. See
“Temperature-Based Current Limitation” on page 42.
To convert the register value in Amps, divide the reading by 4.
5 Confirmed Short Circuit Permanent
6 Confirmed Encoder Error Permanent
7 Emergency Stop Pressed Permanent
TABLE 26. Controller Identification Register Definition
Bit Model or Function
0AX500
1AX1500
2AX2500
3AX3500
4Unused
5 Encoder Present
6 Short Circuit Detection Present
7Unused
TABLE 25. Controller Status Register Definition
Bit Fault Condition Effect
- Dual Channel 1
- Digital Motor 1
- Controller 1
- Revision History 3
- SECTION 2 AX1500 5
- SECTION 10 Normal and 8
- SECTION 11 R/C Operation 101 8
- Important Safety 13
- Warnings 13
- Important Safety Warnings 14
- Quick Start 15
- Motor 2 Motor 1 16
- M2+ M1+ M1- VMotM2- 3 x Gnd 16
- Powering On the Controller 20
- Exploring further 22
- AX1500 Motor 23
- Overview 23
- Technical features 24
- Connecting 27
- Power and 27
- Motors to the 27
- Controller Power 28
- Controller Powering Schemes 30
- Single Channel Operation 33
- Jumper In for Single Channel 34
- General 39
- Position Sensor 42
- Gear box 42
- Position Feedback 42
- Programmable Acceleration 45
- Inverted Operation 49
- Sensors and 51
- Actuators to 51
- Input/Outputs 51
- AX1500’s Inputs and Outputs 52
- I/O List and Pin Assignment 54
- Important warning: 56
- Analog Inputs 58
- Reported Analog Value 64
- Temperature in Degrees C 64
- Installing 67
- Connecting and 67
- Using the 67
- Encoder Module 67
- Recommended Encoder Types 68
- Installing the Encoder Module 69
- Connecting the Encoder 70
- Ferrite Core 71
- Effect of Limit Switches 75
- Closed Loop 81
- Position Mode 81
- Position Sensor Selection 82
- Sensor Mounting 82
- Important Warning: 86
- Important Safety Warning 87
- • Command Value 91
- • Actual Position 91
- • Applied Power 91
- Closed Loop Position Mode 92
- Speed Mode 93
- Tachometer wiring 94
- P iti F db k 94
- Normal and 99
- Fault Condition 99
- LED Messages 99
- • Over temperature 100
- • Over Voltage 100
- • Under Voltage 100
- R/C Operation 101
- Important Warning 105
- Reception Watchdog 107
- Joystick Deadband Programming 108
- Command Control Curves 109
- Left/Right Tuning Adjustment 110
- Joystick Calibration 110
- Data Logging in R/C Mode 111
- Analog Control 113
- Connecting a Potentiometer 115
- Important Notice 116
- Analog Deadband Adjustment 117
- Analog Control and Operation 120
- Serial (RS-232) 121
- Controls and 121
- Operation 121
- Cable configuration 123
- Extending the RS232 Cable 123
- Communication Settings 124
- RS232 Mode if default 127
- Character Echo 127
- Command Acknowledgement 127
- Command Error 127
- Watchdog time-out 127
- RS-232 Watchdog 128
- Set Motor Command Value 129
- Set Accessory Output 129
- Query Analog Inputs 131
- Query Heatsink Temperatures 131
- Query Battery Voltages 131
- Query Digital Inputs 132
- Reset Controller 132
- Apply Parameter Changes 133
- Amps Limit 136
- Acceleration 137
- Input Switches Function 137
- Left/Right Adjust 139
- Default PID Gains 140
- Important Notice: 142
- PWM Frequency Register 143
- Controller Status Register 143
- Current Amps Limit Registers 144
- RS232 Encoder Command Set 145
- Read Speed 146
- Read Distance 147
- Read Speed/Distance 147
- Important Note 148
- Counter Read/Write Mailbox 151
- Counter 1 and 2 151
- Destination Register 1 and 2 151
- Distance 1 and 2 152
- Speed 1 and 2 152
- Time Base 1 and 2 152
- Encoder Threshold 152
- Distance Divider 152
- Counter Read Data Format 153
- Data Logging Cables 156
- Using the Roborun 161
- Configuration 161
- Getting On-Screen Help 164
- Control Settings 165
- Power Settings 166
- Encoder Setting and Testing 168
- Running the Motors 170
- Logging Data to Disk 173
- Using the Console 174
- Mechanical 181
- Specifications 181
- Mounting Considerations 182
- Thermal Considerations 182
- Precautions to observe 184
- Wire Dimensions 185
- Mechanical Specifications 186
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