Roboteq Dual Channel Digital Motor Controller AX500 Manuale Utente Scaricare il pdf (Pagina 123)

AX500 Motor Controller User’s Manual 123

Reading & Changing Operating Parameters at Runtime

These registers can be polled to view what the Amps limit is at the current time. This limit

normally is the one that is preset by the user except when the controller is operating at

high temperature, in which case the allowable current drops as temperature rises. See

“Temperature-Based Current Limitation” on page 38.

To convert the register value in Amps, divide the reading by 8.

1 2 ... 118 119 120 121 122 123 124 125 126 127 128 ... 153 154

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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Roboteq Dual Channel Digital Motor Controller AX500 Manuale Utente Pagina 123

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