Roboteq Dual Channel Digital Motor Controller AX2550 Manuale Utente

AX1500Dual ChannelDigital MotorController User’s Manualv1.9b, June 1, 2007visit www.roboteq.com to download the latest revision of this manual©Copyrig

10 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller Identification Register 144Current Amps Limit Registers 144RS232 Encode

Normal and Fault Condition LED Messages100 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Output Off / Fault ConditionThe controller

AX1500 Motor Controller User’s Manual 101Mode DescriptionSECTION 11 R/C OperationThis section describes the controller’s wiring and functions specific

R/C Operation102 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Selecting the R/C Input ModeThe R/C Input Mode is the factory defaul

AX1500 Motor Controller User’s Manual 103R/C Input Circuit DescriptionR/C Input Circuit DescriptionThe AX1500 R/C inputs are directly connected to the

R/C Operation104 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007. Powering the Radio from the controllerThe 5V power and ground sign

AX1500 Motor Controller User’s Manual 105Powering the Radio from the controllerImportant WarningDo not connect a battery to the radio when in this mod

R/C Operation106 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connecting to a Separately Powered RadioThis wiring option must be u

AX1500 Motor Controller User’s Manual 107Reception Watchdogond indicates the minimum joystick position and 2.0 milliseconds indicates the maximum joys

R/C Operation108 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Similarly, if the pulse train is lost while the motors were enabled,

AX1500 Motor Controller User’s Manual 109Command Control CurvesThe deadband is measured as a percentage of total normal joystick travel. For example,

AX1500 Motor Controller User’s Manual 11Logging Data to Disk 173Connecting a Joystick 174Using the Console 174Viewing and Logging Data in Analog and R

R/C Operation110 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Left/Right Tuning AdjustmentWhen operating in mixed mode with one mo

AX1500 Motor Controller User’s Manual 111Data Logging in R/C ModeOutput C is a buffered output capable of driving a 2A device at up to 24V. Details on

R/C Operation112 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007To read the output string while operating the controller with the R/

AX1500 Motor Controller User’s Manual 113Mode DescriptionSECTION 12 Analog Control and OperationThis section describes how the motors may be operated

Analog Control and Operation114 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connector I/O Pin Assignment (Analog Mode)When used i

AX1500 Motor Controller User’s Manual 115Connecting to a Voltage SourceConnecting to a Voltage SourceThe analog inputs expect a DC voltage of 0 to 5V

Analog Control and Operation116 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The controller includes two 47K ohm resistors pulling

AX1500 Motor Controller User’s Manual 117Analog Deadband AdjustmentAnalog Deadband AdjustmentThe controller may be configured so that some amount of p

Analog Control and Operation118 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important NoticeSome analog joysticks do not cause th

AX1500 Motor Controller User’s Manual 119Data Logging in Analog ModeData in Analog and R/C Modes” on page 176). It may also be stored in a PDA that ca

12 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Analog Control and Operation120 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 121Use and benefits of RS232SECTION 13 Serial (RS-232) Controls and OperationThis section describes the communic

Serial (RS-232) Controls and Operation122 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connector I/O Pin Assignment (RS232 Mode)Wh

AX1500 Motor Controller User’s Manual 123Cable configurationCable configurationThe RS232 connection requires the special cabling as described in the f

Serial (RS-232) Controls and Operation124 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Communication SettingsThe AX1500 serial com

AX1500 Motor Controller User’s Manual 125Establishing Manual Communication with a PCCOM1port. You can easily change this setting to a different port f

Serial (RS-232) Controls and Operation126 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007After this information is sent, the Encoder

AX1500 Motor Controller User’s Manual 127Commands Acknowledge and Error MessagesRS232 Mode if defaultIf the controller is configured in RS232 mode, it

Serial (RS-232) Controls and Operation128 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007RS-232 WatchdogFor applications demanding t

AX1500 Motor Controller User’s Manual 129Controller Commands and QueriesSet Motor Command ValueDescription:Send a speed of position value from 0 to 12

AX1500 Motor Controller User’s Manual 13SECTION 1 Important Safety WarningsRead this Section FirstThe AX1500 is a high power electronics device. Serio

Serial (RS-232) Controls and Operation130 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Query Power Applied to MotorsDescription:Th

AX1500 Motor Controller User’s Manual 131Controller Commands and QueriesQuery Analog InputsDescription:This query will cause the controller to return

Serial (RS-232) Controls and Operation132 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007ages: the first is the Main Battery voltage

AX1500 Motor Controller User’s Manual 133Accessing & Changing Configuration Parameter in FlashReply: None. Controller will reset and display promp

Serial (RS-232) Controls and Operation134 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Syntax: ^FFReply: + Success, changed parame

AX1500 Motor Controller User’s Manual 135Accessing & Changing Configuration Parameter in FlashThese parameters are stored in the controller’s Flas

Serial (RS-232) Controls and Operation136 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007This parameters selects the various open lo

AX1500 Motor Controller User’s Manual 137Accessing & Changing Configuration Parameter in FlashAccelerationAddress: ^03Access: Read/WriteEffective:

Serial (RS-232) Controls and Operation138 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007RC Joystick or Analog DeadbandAddress: ^06A

AX1500 Motor Controller User’s Manual 139Accessing & Changing Configuration Parameter in FlashThis parameter configures the transfer curve that is

Important Safety Warnings14 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Serial (RS-232) Controls and Operation140 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Default Encoder Distance DividerAddress: ^0

AX1500 Motor Controller User’s Manual 141Reading & Changing Operating Parameters at Runtime^1C - Joystick Max 2 MS^1D - Joystick Max 2 LSEffective

Serial (RS-232) Controls and Operation142 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important Notice:Do not write in the locati

AX1500 Motor Controller User’s Manual 143Reading & Changing Operating Parameters at Runtime^86 - I2^87 - D2Access: Read/WriteEffective: InstantlyT

Serial (RS-232) Controls and Operation144 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller Identification RegisterAddress:

AX1500 Motor Controller User’s Manual 145RS232 Encoder Command SetRS232 Encoder Command SetWhen present, the Encoder module responds to a dedicated se

146 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007While resetting is a single step command, setting the counters to a non-zero valu

AX1500 Motor Controller User’s Manual 147RS232 Encoder Command SetRead DistanceDescription:This query will cause the controller to return the distance

148 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Reply: 0nWhere: n = switch statusThe relationship between the value of n and the

AX1500 Motor Controller User’s Manual 149RS232 Encoder Command SetExample:*84 Read value of parameter at address hex 8401 Controller replies, value is

AX1500 Motor Controller User’s Manual 15SECTION 2 AX1500Quick StartThis section will give you the basic information needed to quickly install, setup a

150 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningDo not alter any other area locations, as this may cause program

AX1500 Motor Controller User’s Manual 151Register DescriptionThese two registers contain either the measured speed or the measured distance. Whether s

152 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007*9A*9B - Least Significant ByteThese two 32-bit (4-bytes) registers are used to s

AX1500 Motor Controller User’s Manual 153Counter Read Data FormatCounter Read Data FormatWhen receiving a counter read query, the encoder module will

154 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 155Automatic Switching from RS232 to RC ModeAutomatic Switching from RS232 to RC ModeIn many computer controlled

156 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller is on, Radio is turned Off (or Radio On with RC ch3 Off)• Relay deacti

AX1500 Motor Controller User’s Manual 157Decimal to Hexadecimal Conversion Tablelogging purposes. This cable has a 15-pin male connector and 3 15-pin

158 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 20075 0537256945101656 0638267046102667 0739277147103678 0840287248104689 09412973491

AX1500 Motor Controller User’s Manual 159Decimal to Hexadecimal Conversion Table-121 135 87 -89 167 A7 -57 199 C7 -25 231 E7-120 136 88 -88 168 A8 -56

AX1500 Quick Start16 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The front side (shown in Figure 1) contains the Power/Status LED

160 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 161SECTION 14 Using the Roborun Configuration UtilityA PC-based Configuration Utility is available, free of char

Using the Roborun Configuration Utility162 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007• after the installation is complete, run

AX1500 Motor Controller User’s Manual 163Roborun Frame, Tab and Menu DescriptionsRoborun Frame, Tab and Menu DescriptionsThe Roborun screen contains t

Using the Roborun Configuration Utility164 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007This is the program’s main frame and inclu

AX1500 Motor Controller User’s Manual 165Loading, Changing Controller ParametersWhen starting Roborun, this screen is filled with the default values.

Using the Roborun Configuration Utility166 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 20074- Emergency Stop or Invert Switch SelectT

AX1500 Motor Controller User’s Manual 167Loading, Changing Controller Parametersaccelerate a motor from idle to maximum speed. See “Programmable Accel

Using the Roborun Configuration Utility168 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Closed Loop ParametersThe screen shown in

AX1500 Motor Controller User’s Manual 169Encoder Setting and TestingWith this utility, the following actions can be accomplished:• Set and program the

AX1500 Motor Controller User’s Manual 17Connecting to the Batteries and MotorsConnecting to the Batteries and MotorsConnection to the batteries and mo

Using the Roborun Configuration Utility170 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The Time Base parameter is used to compute

AX1500 Motor Controller User’s Manual 171Running the Motors1- Run/Stop ButtonThis button will cause the PC to send the run commands to the controller

Using the Roborun Configuration Utility172 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007case the power level will be the one neede

AX1500 Motor Controller User’s Manual 173Running the Motors7- Data Logging and TimerA timer is provided to keep track of time while running the motors

Using the Roborun Configuration Utility174 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Connecting a JoystickExercising the motors

AX1500 Motor Controller User’s Manual 175Using the Consolecannot be established (e.g. “Controller not found”, no response to command changes, communic

Using the Roborun Configuration Utility176 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 20074- Send Reset StringClicking this button w

AX1500 Motor Controller User’s Manual 177Operating the AX1500 over a Wired or Wireless LANTo operate over the network, two computers are required, as

Using the Roborun Configuration Utility178 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Updating the Controller’s SoftwareThe AX15

AX1500 Motor Controller User’s Manual 179Creating Customized Object FilesDo not reinstall the same firmware version as the one already installed in th

AX1500 Quick Start18 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningDo not rely on cutting power to the controller

Using the Roborun Configuration Utility180 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 20078- Install the new object file in the con

AX1500 Motor Controller User’s Manual 181Mechanical DimensionsSECTION 15 Mechanical SpecificationsThis section details the mechanical characteristics

Mechanical Specifications182 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Mounting ConsiderationsThe AX1500’s heatsink is located

AX1500 Motor Controller User’s Manual 183Attaching the Controller Directly to a Chassisboard against a vertical surface as shown in the figure below w

Mechanical Specifications184 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Note that the back of the PCB has large copper areas exp

AX1500 Motor Controller User’s Manual 185Wire DimensionsWire DimensionsThe AX1500 uses screw terminals for the power connections to the batteries and

Mechanical Specifications186 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 19Connecting the R/C RadioConnecting the R/C RadioConnect the R/C adapter cables to the controller on one side a

2 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Quick Start20 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Powering On the ControllerImportant reminder: There is no On-Off

AX1500 Motor Controller User’s Manual 21Connecting the controller to your PC using RoborunConnecting the controller to your PC using RoborunConnecting

AX1500 Quick Start22 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The intuitive Graphical User Interface will let you view and cha

AX1500 Motor Controller User’s Manual 23SECTION 3 AX1500 Motor Controller OverviewCongratulations! By selecting Roboteq’s AX1500 you have empowered yo

AX1500 Motor Controller Overview24 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The motors are driven using high-efficiency Power

AX1500 Motor Controller User’s Manual 25Technical features• User defined purpose (RS232 mode only)• 2 Extra analog inputs. Used as:• Potentiometer inp

AX1500 Motor Controller Overview26 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007• 20A extended• High current operation may be exte

AX1500 Motor Controller User’s Manual 27Power ConnectionsSECTION 4 Connecting Power and Motors to the ControllerThis section describes the AX1500 Cont

Connecting Power and Motors to the Controller28 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Controller PowerThe AX1500 uses a fle

AX1500 Motor Controller User’s Manual 29Controller PowerWhen powered only via the Power Control input, the controller will turn On but motors will not

AX1500 Motor Controller User’s Manual 3Revision HistoryThe information contained in this manual is believed to be accurate and reliable. However, it m

Connecting Power and Motors to the Controller30 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007All 3 ground (-) are connected to eac

AX1500 Motor Controller User’s Manual 31Controller Powering SchemesThere is no need to insert a separate switch on Power cables, although for safety r

Connecting Power and Motors to the Controller32 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningUnless you can ensur

AX1500 Motor Controller User’s Manual 33Single Channel OperationIf you are using this type of motor, make sure that it is mounted on isolators and tha

Connecting Power and Motors to the Controller34 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007It will be safe to wire in parallel t

AX1500 Motor Controller User’s Manual 35Electrical Noise Reduction Techniquesbe amplified beyond the controller’s capability to correct them. This is

Connecting Power and Motors to the Controller36 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Please download the Application Note

AX1500 Motor Controller User’s Manual 37Using the Controller with a Power Supply• Use a power supply that will not suffer damage in case a voltage is

Connecting Power and Motors to the Controller38 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 39Basic OperationSECTION 5 General OperationThis section discusses the controller’s normal operation in all its

4 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

General Operation40 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Selecting the Motor Control ModesFor each motor, the AX1500 suppo

AX1500 Motor Controller User’s Manual 41Selecting the Motor Control ModesClosed Loop Speed ControlIn this mode, illustrated in Figure 16, an analog ta

General Operation42 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007User Selected Current Limit SettingsThe AX1500 has current sensor

AX1500 Motor Controller User’s Manual 43Battery Current vs. Motor CurrentThe numbers in the table are the max Amps allowed by the controller at a give

General Operation44 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The relation between Battery Current and Motor current is given i

AX1500 Motor Controller User’s Manual 45Programmable AccelerationProgrammable AccelerationWhen changing speed command, the AX1500 will go from the pre

General Operation46 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningDepending on the load’s weight and inertia, a qu

AX1500 Motor Controller User’s Manual 47Left / Right Tuning AdjustmentThe AX1500 is delivered with the “linear” curves selected for both joystick chan

General Operation48 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007is found on all R/C transmitters, and which is actually an offset

AX1500 Motor Controller User’s Manual 49Activating Brake Release or Separate Motor ExcitationActivating Brake Release or Separate Motor ExcitationThe

AX1500 Motor Controller User’s Manual 5Revision History 3SECTION 1 Important Safety Warnings 13This product is intended for use with rechargeable bat

General Operation50 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Special Use of Accessory Digital InputsThe AX1500 includes two ge

AX1500 Motor Controller User’s Manual 51AX1500 ConnectionsSECTION 6 Connecting Sensors and Actuators to Input/OutputsThis section describes the variou

Connecting Sensors and Actuators to Input/Outputs52 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007AX1500’s Inputs and OutputsIn add

AX1500 Motor Controller User’s Manual 53AX1500’s Inputs and OutputsWhen the controller operates in modes that do not use these I/O, these signals beco

Connecting Sensors and Actuators to Input/Outputs54 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007I/O List and Pin AssignmentThe fi

AX1500 Motor Controller User’s Manual 55Connecting devices to Output C**These connections should only be done in RS232 mode or R/C mode with radio pow

Connecting Sensors and Actuators to Input/Outputs56 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important warning: Overvoltage sp

AX1500 Motor Controller User’s Manual 57Connecting Switches or Devices to EStop/Invert InputThe status of Input F can be read in the RS232 mode with t

Connecting Sensors and Actuators to Input/Outputs58 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The status of the EStop/Inv can b

AX1500 Motor Controller User’s Manual 59Connecting Tachometer to Analog InputsConnecting the potentiometer to the controller is as simple as shown in

6 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007SECTION 5 General Operation 39Basic Operation 39Input Command Modes 39Selecting th

Connecting Sensors and Actuators to Input/Outputs60 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Since the controller only accepts

AX1500 Motor Controller User’s Manual 61Connecting External Thermistor to Analog InputsConnecting External Thermistor to Analog InputsUsing external t

Connecting Sensors and Actuators to Input/Outputs62 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007To read the temperature, use the

AX1500 Motor Controller User’s Manual 63Connecting User Devices to Analog Inputs Measured volts = ((controller reading + 128) * 0.255) -5Note: Th

Connecting Sensors and Actuators to Input/Outputs64 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007These sensors are used to automat

AX1500 Motor Controller User’s Manual 65Internal Heatsink Temperature Sensorselse{LoTemp =i*5-40;HiTemp = LoTemp + 5;lobound = TempTable[i];hibound =

Connecting Sensors and Actuators to Input/Outputs66 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 67Optical Incremental Encoders OverviewSECTION 7 Installing, Connecting and Using the Encoder ModuleThis section

Installing, Connecting and Using the Encoder Mod-68 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The figure below shows the typica

AX1500 Motor Controller User’s Manual 69Installing the Encoder ModuleSpecifically, the encoder module can process 250,000 counts per seconds. As discu

AX1500 Motor Controller User’s Manual 7Recommended Encoder Types 68Installing the Encoder Module 69Connecting the Encoder 70Cable Length and Noise Con

Installing, Connecting and Using the Encoder Mod-70 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 20072- Carefully insert the encoder m

AX1500 Motor Controller User’s Manual 71Cable Length and Noise ConsiderationsCable Length and Noise ConsiderationsCable should not exceed one 3’ (one

Installing, Connecting and Using the Encoder Mod-72 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Important WarningExcessive cable

AX1500 Motor Controller User’s Manual 73Wiring Optional Limit SwitchesIn Figure 42, the encoder and switches are wired to the encoder module using a s

Installing, Connecting and Using the Encoder Mod-74 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Using this circuit when the switc

AX1500 Motor Controller User’s Manual 75Wiring Limit Switches Without EncodersWiring Limit Switches Without EncodersIf no encoder is used, the Encoder

Installing, Connecting and Using the Encoder Mod-76 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007In Single Channel Mode, limit swi

AX1500 Motor Controller User’s Manual 77Using the Encoder to Track PositionA simple procedure is included in the Roborun PC utility to easily determin

Installing, Connecting and Using the Encoder Mod-78 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The actual formula is as follows:

AX1500 Motor Controller User’s Manual 79Encoder Testing and Setting Using the PC UtilityEncoder Testing and Setting Using the PC UtilityExtensive diag

8 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Adjust Offset and Max Speed 96Control Loop Description 96PID tuning in Speed Mode 9

Installing, Connecting and Using the Encoder Mod-80 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 81Mode DescriptionSECTION 8 Closed Loop Position ModeThis section describes the AX1500 Position mode, how to wir

Closed Loop Position Mode82 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Position Sensor SelectionThe AX1500 may be used with the

AX1500 Motor Controller User’s Manual 83Feedback Potentiometer wiringThe mechanical coupling between the motor and the sensor must be as tight as poss

Closed Loop Position Mode84 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007 Feedback Potentiometer wiring in Analog ModeWhen the co

AX1500 Motor Controller User’s Manual 85Analog Feedback on Single Channel ControllersAnalog Feedback on Single Channel ControllersOn Single Channel co

Closed Loop Position Mode86 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007This wiring is also the one to use when the controller is

AX1500 Motor Controller User’s Manual 87Encoder Error Detection and Protection10. If the motor turns in the direction away from the sensor, then the p

Closed Loop Position Mode88 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007The diode polarity depends on the particular wiring and m

AX1500 Motor Controller User’s Manual 89Using Current Limiting as ProtectionImportant WarningLimit switches must be used when operating the controller

AX1500 Motor Controller User’s Manual 9Connector I/O Pin Assignment (RS232 Mode) 122Cable configuration 123Extending the RS232 Cable 123Communication

Closed Loop Position Mode90 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007A higher Proportional Gain will cause the algorithm to ap

AX1500 Motor Controller User’s Manual 91PID tuning in Position ModeThe Roborun PC utility makes this experimentation easy by providing one screen for

Closed Loop Position Mode92 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

AX1500 Motor Controller User’s Manual 93Mode DescriptionSECTION 9 Closed Loop Speed ModeThis section discusses the AX1500 Close Loop Speed mode. Mode

Closed Loop Speed Mode94 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Detailed information on how to install and wire optical enco

AX1500 Motor Controller User’s Manual 95Speed Sensor and Motor PolaritySpeed Sensor and Motor PolarityThe tachometer or encoder polarity (i.e. which r

Closed Loop Speed Mode96 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007Adjust Offset and Max SpeedFor proper operation, the control

AX1500 Motor Controller User’s Manual 97PID tuning in Speed ModeThe Differential component of the algorithm computes the changes to the error from one

Closed Loop Speed Mode98 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007In Speed Mode, the Integral component of the PID is the most

AX1500 Motor Controller User’s Manual 99Power On LEDSECTION 10 Normal and Fault Condition LED MessagesThis section discusses the meaning of the variou