Roboteq Dual Channel Digital Motor Controller AX500 Manuel d'utilisateur Page 35
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AX500 Motor Controller User’s Manual 35
Basic Operation
SECTION 5 General
Operation
This section discusses the controller’s normal operation in all its supported operating
modes.
Basic Operation
The AX500’s operation can be summarized as follows:
• Receive commands from a radio receiver, joystick or a microcomputer
• Activate the motors according to the received command
• Perform continuous check of fault conditions and adjust actions accordingly
Multiple options are available for each of the above listed functions which can be combined
to produce practically any desired mobile robot configuration.
Input Command Modes
The controller will accept commands from one of the following sources
• R/C radio
• Serial data (RS232)
• Analog signal (0 to 5V)
A detailed discussion on each of these modes and the available commands is provided in
the following dedicated chapters: “R/C Operation” on page 81, “Serial (RS-232) Controls
and Operation” on page 101, and “Analog Control and Operation” on page 93.
The controller’s factory default mode is R/C radio. The mode can be changed using any of
the methods described in “Loading, Changing Controller Parameters” on page 134.
- Dual Channel 1
- Digital Motor 1
- Controller 1
- Revision History 3
- SECTION 2 AX500 5
- SECTION 9 Normal and 7
- SECTION 10 R/C Operation 81 7
- Important Safety 11
- Warnings 11
- Important Safety Warnings 12
- Quick Start 13
- Motor 2 Motor 1 14
- M2+ M1- M1+ VMotM2- 3 x Gnd 14
- RS232 Mode No Watchdog 18
- RS232 Mode with Watchdog 18
- Analog Mode 18
- Exploring further 20
- AX500 Motor 21
- Overview 21
- Technical features 22
- Connecting 25
- Power and 25
- Motors to the 25
- Controller Power 26
- Controller Powering Schemes 27
- General 35
- Position Sensor 38
- Gear box 38
- Position Feedback 38
- Command Control Curves 42
- Inverted Operation 45
- Sensors and 47
- Actuators to 47
- Input/Outputs 47
- AX500’s Inputs and Outputs 48
- I/O List and Pin Assignment 50
- Important warning: 52
- Analog Inputs 54
- Reported Analog Value 60
- Temperature in Degrees C 60
- Closed Loop 63
- Position Mode 63
- Important Warning: 67
- Important Safety Warning 68
- PID tuning in Position Mode 71
- • Command Value 72
- • Actual Position 72
- • Applied Power 72
- Speed Mode 73
- Tachometer wiring 74
- PID tuning in Speed Mode 77
- Closed Loop Speed Mode 78
- Fault Condition 79
- LED Messages 79
- Normal and 79
- Output Off / Fault Condition 80
- R/C Operation 81
- Selecting the R/C Input Mode 82
- R/C Input Circuit Description 83
- Supplied Cable Description 83
- 1. 0 5 m s 87
- R/C pulse timing: 87
- Joystick Deadband Programming 88
- Analog Control 93
- Analog Control and Operation 100
- Serial (RS-232) 101
- Controls and 101
- Operation 101
- Cable configuration 103
- Extending the RS232 Cable 103
- Communication Settings 104
- RS232 Mode if default 106
- Character Echo 106
- Command Acknowledgement 106
- Command Error 106
- RS-232 Watchdog 107
- Set Motor Command Value 108
- Set Accessory Output 108
- Important Notice 109
- Query Battery Voltages 111
- Query Digital Inputs 111
- Reset Controller 111
- Apply Parameter Changes 112
- Amps Limit 115
- Acceleration 116
- Input Switches Function 116
- Left/Right Adjust 118
- Default PID Gains 118
- Important Notice: 120
- Read/Change PID Values 121
- PWM Frequency Register 121
- Controller Status Register 121
- Current Amps Limit Registers 122
- Data Logging Cables 126
- Using the Roborun 131
- Configuration 131
- Getting On-Screen Help 134
- Control Settings 135
- Power Settings 136
- Running the Motors 138
- Logging Data to Disk 141
- Using the Console 142
- Important Warning 146
- Mechanical 149
- Specifications 149
- Mounting Considerations 150
- Thermal Considerations 150
- Precautions to observe 152
- Wire Dimensions 153
- Mechanical Specifications 154
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