Roboteq Dual Channel Digital Motor Controller AX2550 Uživatelský manuál stáhnout pdf (Strana 79)

AX1500 Motor Controller User’s Manual 79

Encoder Testing and Setting Using the PC Utility

Extensive diagnostic, calibration, setting and testing support is provided in the Roborun PC

utility. Basic instructions on how to install and run the PC utility can be found in “Encoder

Setting and Testing” on page 168.

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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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