Roboteq Dual Channel Digital Motor Controller AX2550 Uživatelský manuál Strana 52
- Strana / 186
- Tabulka s obsahem
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Hodnocené. / 5. Na základě hodnocení zákazníků
Connecting Sensors and Actuators to Input/Outputs
52 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
AX1500’s Inputs and Outputs
In addition to the RS232 and R/C channel communication lines, the AX1500 includes sev-
eral inputs and outputs for various sensors and actuators. Depending on the selected oper-
ating mode, some of these I/Os provide feedback and/or safety information to the
controller.
5
6
7
9
8
4
3
1
2
1- DC Motors
2- Optional sensors:
- Tachometers (Closed loop Speed mode)
- Potentiometers (Servo mode)
- Encoders when Module present
3- Motor Power supply wires
4- Power Control wire5- Controller
6- R/C Radio Receiver, microcomputer, or
wireless modem
7- Command: RS-232, R/C Pulse
8- Miscellaneous I/O
9- Running Inverted, or emergency stop
switch
FIGURE 21. Typical controller connections
3
- 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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