RoboteQ Dual Channel Digital Motor Controller AX500 Manual de usuario Pagina 120
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Serial (RS-232) Controls and Operation
120 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
Default PID Gains
Address: ^0F - Proportional Gain
^10 - Integral Gain
^11 - Derivative Gain
Access: Read/Write
Effective: After Reset or ^FF
These parameters are the Gains values that are loaded after the controller is reset or pow-
ered on. These Gains apply to both channels. Gains can be changed at Runtime, and values
can be different for each channel using separate commands (see page 122).
Gains values are integer number from 0 to 63. This number is divided by 8 internal so that
each increment equals 0.125.
Joystick Min, Max and Center Values
Address: ^12 - Joystick Center 1 MS
^13 - Joystick Center 1 LS
^14 - Joystick Center 2 MS
^15 - Joystick Center 2 LS
^16 - Joystick Min 1 MS
^17 - Joystick Min 1 LS
^18 - Joystick Min 2 MS
^19 - Joystick Min 2 LS
^1A - Joystick Max 1 MS
^1B - Joystick Max 1 LS
^1C - Joystick Max 2 MS
^1D - Joystick Max 2 LS
Effective: Instantly
These parameters are the Gains values that are loaded after the controller is reset or pow-
ered on. These Gains apply to both channels. Gains can be changed at Runtime, and values
can be different for each channel using separate commands (see page 122).
Bit Definition See pages
7:0 0 to 63 (16) default page 70 and page 76
- Dual Channel 1
- Digital Motor 1
- Controller 1
- Revision History 3
- SECTION 1 AX500 5
- SECTION 8 Normal and 7
- SECTION 9 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
- Programmable Acceleration 41
- 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
- • Applied Power 72
- • Command Value 72
- • Actual Position 72
- Speed Mode 73
- Tachometer wiring 74
- PID tuning in Speed Mode 77
- Closed Loop Speed Mode 78
- Normal and 79
- Fault Condition 79
- LED Messages 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 107
- Character Echo 107
- Command Acknowledgement 107
- Command Error 107
- Watchdog time-out 107
- RS-232 Watchdog 108
- Set Motor Command Value 109
- Set Accessory Output 109
- Important Notice 110
- Query Analog Inputs 111
- Query Heatsink Temperatures 111
- Query Battery Voltages 111
- Query Digital Inputs 112
- Reset Controller 112
- Apply Parameter Changes 113
- Amps Limit 116
- Acceleration 116
- Input Switches Function 117
- Left/Right Adjust 118
- Default PID Gains 120
- Important Notice: 122
- PWM Frequency Register 123
- Controller Status Register 123
- Current Amps Limit Registers 124
- Data Logging Cables 126
- Using the Roborun 131
- Configuration 131
- Getting On-Screen Help 134
- Control Settings 135
- Power Settings 136
- Closed Loop Parameters 138
- Exercising the Motors 138
- Viewing Encoder Data 138
- Running the Motors 139
- Logging Data to Disk 141
- Connecting a Joystick 142
- Using the Console 143
- 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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