- ROBOT R US Singapore
Contents
1. adapter cables to the controller on one side and to two or three channels on the R C receiver on the other side If present the third channel is for activating the accessory outputs and is optional 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 109 of the User s Manual for a more complete discussion on R C commands calibration and other options 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 FIGURE 4 R C connector wiring for 3 channels and battery elimination BEC This wiring with the wire loop uncut assumes that the R C radio will be powered by the AX2550 controller Other wiring options are described in R C Operation on page 109 of the User s Manual Important Warning Do not connect a battery to the radio when the wire loop is uncut The RC battery voltage will flow directly into the controller and cause permanent damage if its volt age is higher than 5 5V Connecting the optional channel 3 will enable you to turn on and off the accessory output See Connecting Sensors and Actuators to Inp2. attery may be of 12 to 40 Volts There is no need to insert a separate switch on Power cables although one is suggested for Emer gency disconnect See Controller Power on page 30 for a detailed discussion and more wiring options Avoid extending the length of wires from the battery to the controller as the added induc tance may cause damage to the controller when operating at high currents Try extending the motor wires instead since the added inductance on the motor side of the controller is not harmful The two red wires are connected to each other inside the controller The same is true for the black wires You should wire each pair together as shown in the diagram above 3 The yellow Power Control wire and the thin black wire MUST be connected to Ground to turn the Controller Off For turning the controller On even though the Power Control may be left floating whenever possible pull it to an unfused12V or higher voltage to keep the controller logic solidly On You may use a separate battery to keep the controller alive as the main Motor battery discharges Refer to the chapter Connecting Power and Motors to AX2550 Motor Controller User s Manual AX2550 Quick Start IRoboteQ the Controller on page 29 for more information about batteries and other connection options Important Warning Do not rely on cutting power to the controller for it to turn off if the Power Control is left floating If motors are spin
3. ave captured parameters onto disk for later analysis e to update the controller s software 10 AX2550 Motor Controller User s Manual Version 1 9b June 1 2007 IRoboteQ Obtaining the Controller s Software Revision Number 7 RoboRun x lRoboteQ fs Controller ID RoboteQ AX3500 4 li Software Rev 1 9b 05 27 07 Controller Configuration Utility en C G53 2 FETs por Log V 1 9b 06 01 07 Dual Channel Encoder ID v1 7 02701705 13 View Connector Pinout Controls Power Settings R C Ana Specific Close Loop Encoder RC Out Run Console I Log Clear Log p Motor 1 Run Empty Save Log b Ae 0 00 22 Res Timer T ES m Command 1 M 73 Power Em a0 Anal J m h M 10o Anas I Plot 0 mi Ene m Command 2 v 25 FET Temp So A l E ae x fo _ChiPeak Input Outputs Voltage fo Mot Amps OH Input E B hs BatVolt 2 Power L aay Eome Lja Ana2 J M Oute Joystick Pins Anad F Enable Contig rio Enc Comm Error 25 FET Temp Ta i Re P2pOOFFIADD IBOO 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 use a USB to serial adapter if needed Apply power to the controller to turn it on Load your CD or download the latest revision of Roborun software
4. boteQ SECTION 2 AX2550 Quick Start This section will give you the basic information needed to quickly install setup and run your AX2550 controller in a minimal configuration The AX2850 is a version of the AX2550 controller with the addition of Optical Encoder inputs What you will need For a minimal installation gather the following components One AX2550 Controller and its provided cables 12V to 40V high capacity high current battery One or two brushed DC motors One R C to DB15 connector provided Miscellaneous wires connectors fuses and switch Locating the Switches Wires and Connectors Take a moment to familiarize yourself with the controller s wires switches and con nectors AX2550 Motor Controller User s Manual 3 AX2550 Quick Start Rob oteQ 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 radio joy stick or microcomputer as well as connections to optional switches and sensors Controller Configu Connector to Operating Status Connector to Receiver Controls ration buttons Optical Encoders and Program LED and sensors AX2850 only Display FIGURE 1 Front Controller Layout At the back of the controller shown in the figure below are located all the wires that must be connected to the batteries and the motors Controller Power Power Control Ground Yello
5. d 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 Self Test Mode on page 53 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 again the cycle will repeat You will need to reset or power down and up the controller to exit and resume normal operation 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 Updating the Controller s Software on page 194 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 AX2550 Motor Controller User s Manual Version 1 9b June 1 2007
6. from www Roboteq com install it on your PC and launch the program The software will auto matically establish communication with the controller 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 AX2550 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 Each software version is identified with a unique number Obtaining this number can be done using the PC connection discussed previously AX2550 Motor Controller User s Manual 11 AX2550 Quick Start RoboteQ 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 Power the controller only via the Power Control input 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 FIGURE 7 Press an
7. heir meanings AX2550 Motor Controller User s Manual AX2550 Quick Start IRoboteQ Restart Press amp hold Prog Program mode entered after 10 seconds B fz Press Prog to select o fz ia Press Set to select next value for parameter fz B Press Prog to store change P and select next parameter to exit Press and hold the Prog button for 10 seconds while resetting or powering on the controller After 10 seconds the controller will enter the program ming mode and flash alternatively the current parame ter I Input Mode and its value 0 R C mode Press the Prog button to move to the next parameter C Motor Control Mode and its value 0 Separate Press the Set button to change the parameter s value 1 Combined Press the Prog button record the change and move to the next parameter A Amps limit and it s value 2 75A 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 S
8. llRoboteQ AX2550 AX2850 Dual Channel High Power Digital Motor Controller Quick Start Manual v1 9b June 1 2007 visit www roboteq com to download the latest revision of this manua Copyright 2003 2007 Roboteg Inc lRoboteQ SECTION 1 Important Safety Warnings Read this Section First The AX2550 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 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 Regeneration Consid erations on page 37 of the Users Manual Always keep the controller connected to the Battery Use the Power Control input to turn On Off Do not Connect to a RC Radio with a Battery Attached Without proper protection a battery attached to an RC Radio may inject its voltage directly inside the controller s sensitive electronics See Beware of Motor Runaway in Improperly Closed Loop Wiring or polarity errors between the feedback device and motor in position or closed loop position mode may cause the controller to runaway with no possibility to stop it until power is turned off AX2550 Motor Controller User s Manual 2 lRo
9. ning because the robot is pushed are pushed or because of inertia they will act as generators and will turn the controller possibly in an unsafe state ALWAYS ground the Power Control wire to turn the controller Off and keep it Off Important Warning 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 Connecting to the 15 pin Connector The controller s I O are located on it s standard 15 pin D Sub Connector The functions of some pins varies depending on controller model and operating mode Pin assignment is found in the table below Signal Pin RC Mode RS232 Mode Analog Mode 1 2A Digital Output C same as pin 9 2 TxData 3 RC Ch1 RxData Unused 4 RC Ch 2 Digital Input F 5 Ground Out 6 Ground In Unused on RevB Hardware 7 5V In Unused on RevB Hardware 8 Digital Input E Not available when Encoder module is present and Analog Input 4 on RevB hardware only 9 2A Digital Output C same as pin 1 0 Analog Input 2 Analog Input 1 2 Analog Input 3 on RevB hardware 3 Ground Out 4 5V Out 100mA max 5 Emergency Stop or Invert Switch input 6 AX2550 Motor Controller User s Manual Version 1 9b June 1 2007 IRoboteQ Connecting the R C Radio Connecting the R C Radio Connect the R C
10. ration as the controller is immediately 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 1 AX2550 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 53 of the User s Manual Press and hold Program and Set together during reset or Reset configuration parameters to factory power up default AX2550 Motor Controller User s Manual Version 1 9b June 1 2007 lRoboteQ Default Controller Configuration TABLE 1 AX2550 Buttons Function Prog and Set button status Function 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 Default Controller Configuration Version 1 9b of the AX2550 software is configured with the factory defaults
11. shown in the table below Although Roboteg strives to keep the same parameters and values from one version to 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 Roboteq web site See Configuring the Controller using the Switches on page 171 of the User Manual for a complete configuration parameter list and their possible values TABLE 2 AX2550 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 105A A Acceleration 2 medium slow S Input switch function 3 no action U Joystick Deadband 2 16 d Exponentiation on channel 1 0 Linear no exponentiation E Exponentiation on channel 2 0 Linear no exponentiation F Left Right Adjust 7 no adjustment B Any one of the parameters listed in Table 2 and others not listed can easily be changed either using the controller s buttons or the PC with the Roboteq Configuration Utility See Using the Roborun Configuration Utility on page 177 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 171 of the User s Manual for a complete list of all the AX2550 s parameters and t
12. ut Outputs on page 55 and Activating the Accessory Outputs on page 120 of the User s Manual AX2550 Motor Controller User s Manual 7 AX2550 Quick Start lRoboteQ 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 wire as described in section Connecting to the Batteries and Motors on page 17 To power the controller center the joystick and trims on the R C transmitter In Analog mode center the command potentiomenter or joystick Then turn on the switch that you have placed on the on the Power Control input 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 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 motor s 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 109 of the User s Manual for a detailed description of the many features and options available in the R C mode Button Operation The AX2550 has three buttons Set Program and Reset These buttons are not needed for normal ope
13. w Black Motor Motor 12 to 40V Ground 12 to 40V Motor Motor White Green Red Black Red Yellow or Green White Motor 1 Motor 2 FIGURE 2 Rear Controller Layout 4 AX2550 Motor Controller User s Manual Version 1 9b June 1 2007 IRoboteQ 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 the set of wires coming out from the back of the controller Motor2 Power switch Optional RS Optional Emergency Disconnect 12V to 24V Controller Motor Battery 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 MUST be used to turn On and Off the controller FIGURE 3 AX2550 Electrical Power Wiring Diagram 1 Connect each motor to one of the two M and M cables pairs Make sure to respect the polarity otherwise the motor s may spin in the opposite direction than expected 2 Connect the two thick black wires to the minus terminal of the battery that will be used to power the motors Connect the two thick red wires the two VMot terminals to the plus terminal of the battery The motor b
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