AX3500 Quick Start
Contents
1. Connecting the R C Radio Connect the R C adapter cables to the controller on one side and to two or three channels on the R C receiver on the other side The third channel is for activating the accessory out puts and is optional Note the channel 3 RC input is not yet implemented in the AX3500 When operating the controller in Separate mode the wire labelled Ch1 controls Motor1 and the wire labelled Ch2 controls Motor2 When operating the controller in Mixed mode Ch1 is used to set the robot s speed and direction while Ch2 is used for steering See R C Operation on page 69 of the User s Manual for a more complete discussion on R C commands calibration and other options AX3500 Motor Controller User s Manual Version 1 7 February 1 2005 IRoboteQ Powering On the Controller Channel 3 3 Channel 1 Command Pulses 4 Channel 2 Command Pulses 6 Radio battery Ground 7 Radio battery 8 Channel 3 Command Pulses Wire loop bringing power from controller to RC radio and to optical isolators FIGURE 4 R C connector wiring for 3 channels and battery elimination BEC This wiring with the wire loop uncut assumes hat the R C radio will be powered by the AX3500 controller Other wiring options are described in R C Operation on page 69 of the User s Manual Important Warning Do not connect a battery to the radio when the wire loop is uncut The RC battery2. Notes The Battery Power connection are doubled in order to provide the maximum current to the controller If only one motor is used only one set of motor power cables needs to be connected Typically 1 2 or 3 x 12V batteries are connected in series to reach 12 24 or 36V respectively The Power Control wire may be used to turn On and Off the controller or to provide a separate and sta ble supply to the controller s logic See discussion below FIGURE 3 Electrical Power Wiring Diagram 1 Connect two of the three Ground tabsto the minus terminal of the battery that will be used to power the motors Connect the two VMot tabsto the plus terminal of the bat tery The motor battery may be of 12 to 40 Volts There is no need to insert a switch on Motor Power cables although one is suggested The two VMot tabs are connected to each other inside the controller The same is true for the Ground tabs You should wire each pair together as shown in the dia gram above 2 You may leave the Power control tab unconnected or you may connect it to a power switch Refer to the chapter Connecting Power and Motors to the Controller on page 25 for more information about batteries and other connection options 3 Connect each motor to one of the two output tabs pair Make sure to respect the polar ity otherwise the motor s may spin in the opposite direction than expected Important Warning AX3500 Motor Control
3. seconds while resetting or powering on the controller Program mode entered after 10 seconds After 10 seconds the controller will enter the program ming mode and flash alternatively the current parame ter l Input Mode and its value 0 R C mode AX3500 Motor Controller User s Manual AX3500 Quick Start RoboteQ Press Prog to select next parameter Press the Prog button to move to the next parameter C Motor Control Mode and its value 0 Separate Press Set to select next value for parameter Press the Set button to change the parameter s value 1 Combined Press Prog to store change gt and select next parameter Press the Prog button record the change and move to the next parameter A Amps limit and it s value 2 75A Reset controller to exit Press the Reset button or power off on the control to restart the controller using the new parameters Connecting the controller to your PC using Roborun Connecting the controller to your PC is not necessary for basic R C operation However it is a very simple procedure that is useful for the following purposes e to Read and Set the programmable parameters with a user friendly graphical inter face e to obtain the controller s software revision and date e to send precise commands to the motors e to read and plot real time current consumption value e Save captured parameters onto disk for later analysis e to update the controller s software 9
4. voltage will flow directly into the controller and cause permanent damage if its volt age is higher than 5 5V Powering On the Controller Important reminder There is no On Off switch on the controller You must insert a switch on the controller s power tab as described in section Connecting to the Batteries and Motors on page 13 To power the controller center the joystick and trims on the R C transmitter Then turn on the switch that you have placed on the Battery Power wire or on the Power Control wire If the R C transmitter and or receiver is powered off the display on the controller will alter nate the letters spelling no ctrl to indicate that it is On but is not receiving a control sig nal AX3500 Motor Controller User s Manual 6 AX3500 Quick Start RoboteQ FIGURE 5 no control scroll message indicates no valid R C signal is present Turn the R C transmitter On The no ctrl scrolling message will disappear and the display will show steady patterns depending on the motors selected direction Move the joystick on the transmitter to activate the motors to the desired speed and direc tion See R C Operation on page 69 of the User s Manual for a detailed description of the many features and options available in the R C mode Button Operation The AX3500 has three buttons Set Program and Reset These buttons are not needed for normal operation as the controller is immedi
5. AX3500 Motor Controller User s Manual Version 1 7 February 1 2005 lIRoboteQ Obtaining the Controller s Software Revision Number g RoboRun a 5 x FRoboteQ eee Controller ID RoboteQ 4 s ali Software Rev v1 7 01 02 05 Controller Configuration Utility e Bad eee V1 7 02 01 05 2 Ch Single Amps Encoder ID 1 7 01 02 05 00 Controls Power Settings R C Ana Specific Close Loop Encoder RC Out Codes Run I Log ClearLog p Motor 1 M fo Amps Empty Stop mpty Save Log jo Ch Peak 0 00 26 Res Timer hos Power m Command 1 mE Anat i1 r fo Enc ON sa 31 FET Temp J Plot 106 ri76 Bat Volt gt Command 2 m Motor 2 _Stop lo Ams fo Ch Peak IV 38 Power J Plot 38 gl Ana2 _J P Joystick Enable Config Joystick rh Ene r Input Status Set Ea z Oia FET Temp Phils Oud C hz Ctrler Volt e Communication Error Tx ak Rx m89897e526C FIGURE 6 Roborun Utility screen layout To connect the controller to your PC use the provided cable Connect the 15 pin connector to the controller Connect the 9 pin connector to your PC s available port typically COM1 Apply power to the controller to turn it on Load your CD or download the latest revision of Roborun software from www Roboteq com install it on your PC and launch the program The software will auto matically establish communication with the control
6. ately operational upon power up The Reset button will restart the controller This button is recessed and you will need a paper clip to press it Reset is also accomplished by turning the controller s power Off and back On The Set and Program buttons have the following functions depending how and when they are pressed TABLE 2 AX3500 Buttons Function Prog and Set button status Function Press and hold Program alone during reset or power up Enter the Programming Mode Press and hold Set alone during reset of power up Enter Self Test mode See Self Test Mode on page 47 of the User s Manual Press and hold Program and Set together during reset or Reset configuration parameters to factory power up default Press Program while Programming Mode Accept previous parameter change and select next parameter Press Set while in Programming mode Change value of selected parameter Press Program pressed alone during normal operation No effect Press Set alone during normal operation No effect Press Program and Set together during normal operation Emergency stop AX3500 Motor Controller User s Manual Version 1 7 February 1 2005 lRoboteQ Default Controller Configuration Default Controller Configuration Version 1 7 of the AX3500 software is configured with the factory defaults shown in the table below Although Roboteg strives to keep the same parameters and values from one version to
7. f Test Mode on page 47 of the User s Manual for a more detailed explanation This is why the motor s battery must be disconnected After about 30 seconds the software revision number will be displayed every 30 seconds You will need to reset or power down and up the controller to exit and resume normal operations Now that you know your controller s software version number you will be able to see if a new version is available for download and installation from Roboteq s web site and which features have been added or improved Installing new software is a simple and secure procedure fully described in Operating the AX3500 over a Wired or Wireless LAN on page 178 of the User s Manual Exploring further By following this quick start section you should have managed to get your controller to operate in its basic modes within minutes of unpacking Each of the features mentioned thus far has numerous options which are discussed further in the complete User s Manual including e Self test mode e Emergency stop condition e Joystick calibration e Using Inputs Outputs e Current limiting e Closed Loop Operation e Software updating e and much more AX3500 Motor Controller User s Manual Version 1 7 February 1 2005
8. lRoboteQ Locating Switches and Connectors Take a moment to familiarize yourself with the controller s switches and connector The front side shown in Figure 1 contains the buttons and display needed to operate and monitor the controller The 15 pin connector provides the connection to the R C or micro computer as well as connections to optional switches and sensors Connector to Receiver Controls and sensors S g gt EC Ous Connector to Optical Encoders Controller Configuration buttons Operating Status and Program LED Display FIGURE 1 Controller Front View At the back of the controller shown in the figure below are located all the Fast on tabs that must be connected to the batteries and the motors Note Both VMot tabs are con nected to each other in the board and must be wired to the same volt age VMot M2 M2 3 x Gnd M1 M1 VMot Motor 2 Motor 1 FIGURE 2 Controller Rear View AX3500 Motor Controller User s Manual Version 1 7 February 1 2005 RoboteQ Connecting to the Batteries and Motors Connecting to the Batteries and Motors Connection to the batteries and motors is shown in the figure below and is done by con necting wires to the Fast on tabs on the controller Motor Battery Optional Cables Power Cables Power on off switch Motor2 Motor1 Power Control Wire 12V to 40V Motor Battery Controller
9. ler retrieve the software revision num ber and present a series of buttons and tabs to enable its various possibilities The intuitive Graphical User Interface will let you view and change any of the controller s parameters The Run tab will present a number of buttons dials and charts that are used for operating and monitoring the motors Obtaining the Controller s Software Revision Number One of the unique features of the AX3500 is the ability to easily update the controller s operating software with new revisions downloaded from Roboteq s web site at www roboteg com This is useful for adding features and or improving existing ones AX3500 Motor Controller User s Manual 10 AX3500 Quick Start lRoboteQ FIGUR Each software version is identified with a unique number Obtaining this number can be done using the PC connection discussed previously It is also possible to get the controller to display the software version number by following these simple steps e Disconnect the power from the motor batteries e Press and hold the Set button while powering or resetting the controller The LED will display a sequence of two numerical digits and an optional letter separated by dashes as shown in the examples below E 7 Press and hold Set to display version number and enter self test After these digits are displayed the controller will attempt to power the motors as part of the self test mode see Sel
10. ler User s Manual AX3500 Quick Start lRoboteQ The controller includes large capacitors When connecting the Motor Power Cables a spark will be generated at the connection point This is a normal occurrence and should be expected Using the Power Control Tab The AX3500 includes a DC DC converter that will generate a 12V internal supply from the main 12 to 40V battery As a result the controller will turn On as soon as the Vmot and Ground tabs are connected to the battery In order to turn On and Off the controller without the need for a bulky and expensive switch or relay on the high current wires the AX3500 uses a Power Control input to enable or disable the internal DC DC converter When left unconnected the DC DC converter is On When grounded the DC DC converter is Off The Power Control tab can also be used to feed a separate supply to the controller so that it will continue to operate if and when the main batteries voltage dips below 12V The table below shows the various functions of the Power Control input See Connecting Power on page 25 for more details on the use and operation of the Power Control signal TABLE 1 Use of Power Control wire Power Control input connected to Action Floating Controller is On Ground Controller is Off Separate 12V to 40V supply Controller is On Controller will draw power from the Power Control tab if main battery voltage dips below 12V
11. llRoboteQ AX3500 Dual Channel High Power Digital Motor Controller Quick Start Manual v1 7 February 1 2005 visit www roboteq com to download the latest revision of this manual Copyright 2003 2005 Roboteg Inc lRoboteQ SECTION 1 AX3500 Quick Start This section will give you the basic information needed to quickly install setup and run your AX3500 controller in a minimal configuration Important Safety Warnings The AX3500 is a high power electronics device Serious damage including fire may occur to the unit motors wiring and batteries as a result of its misuse Transistors may explode and require the use of safety glasses when operated in direct view Please review the User s Manual for added precautions prior to applying full battery or full load power This product is intended for use with rechargeable batteries Unless special precautions are taken damage to the controller and or power supply may occur if operated with a power supply alone See Power Regener ation Considerations on page 31 of the Users Manual What you will need For a minimal installation gather the following components e One AX3500 Controller and its provided cables e 12V to 40V high capacity high current battery e One or two brushed DC motors e One R C to DB15 connector provided e Miscellaneous wires connectors fuses and switch AX3500 Motor Controller User s Manual 2 AX3500 Quick Start
12. the next changes may occur from one revision to the next Make sure that you have the matching manual and software versions These may be retrieved from the Roboteg web site See Configuring the Controller using the Switches on page 159 of the User Manual for a complete configuration parameter list and their possible values TABLE 3 AX3500 Default Settings Parameter Default Values Letter Input Command mode 0 R C Radio mode Motor Control mode 0 Separate A B speed control open loop C Amp limit 5 52 5A A Acceleration 2 medium slow S Input switch function 3 no action U Brake Coast 0 brake when idle b Joystick Deadband 2 16 d Exponentiation on channel 1 0 Linear no exponentiation Exponentiation on channel 2 0 Linear no exponentiation F Left Right Adjust 7 no adjustment L Checking and Changing Configurations Any one of the parameters listed in Table 3 and others not listed can easily be changed either using the controller s buttons or your PC with the Roboteq Configuration Utility The example below shows how to use the buttons to select and change the Motor Control mode from separate to mixed See Configuring the Controller using the Switches on page 159 of the User s Manual for a complete list of all the AX3500 s parameters and their meanings Restart A Press amp hold Prog Press and hold the Prog button for 10
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