RoboteQ AX3500 manuel d'utilisation

AX350 0 Dual Chann el High P o w er Digital Motor Contr oller User ’ s Manual v1 .9b, June 1, 2007 visit www . robot eq.com to download the lat est revisio n of thi s manua l ©Cop yright 2003-2007 R oboteq, I nc.[...]

2 AX3500 Motor Con troller User’ s Manua l V ersion 1 .9b. J une 1 , 2007[...]

AX3500 Motor Controll er User ’ s Manu al 3 Revision History The inf ormation contained in this manua l is belie v ed to be a ccurate and reliable. Ho we ver , it ma y contain e rrors tha t were not notic ed at time of publicati on. User’ s are expect ed to perf orm thei r own pro duct v alidat ion and n ot rely solel y on data contained in thi[...]

4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 5 Re vi sion Hist or y 3 SECTION 1 Impo rt ant S af et y W arn ings 13 This produc t is inte nded for use with rec harge able bat teries 13 A v oid Sho rts when M ounting Board agains t Chass is 13 Do no t Con nect t o a R C Radi o wi th a B at ter y At tac hed 13 Be ware of Motor Runa wa y in Improperly [...]

6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 SECTION 5 Genera l Operat ion 41 Ba sic Oper ation 41 Inpu t Comm and Mo des 41 Selec ting the Motor C ontrol Mo des 42 Open Loop, Sepa rate Speed Control 42 Open Loop, Mi xed Speed Cont rol 42 Closed Loop Speed Con trol 43 Close Loop P osi tion Cont rol 43 User Sel ected C[...]

AX3500 Motor Controll er User ’ s Manu al 7 SECTION 7 RC Pu ls es Ou tp u t 71 RC Pulse Output Ov er vi ew 71 Conne ctor Location an d Pinout 72 Conne cting Ser vos to Co ntroller s 72 Ser vo Connec tion to RevA Contr ollers 72 Ser vo Connec tion to RevB Contr ollers 73 Conne cting to S lav e Contr ollers 73 P ulse T iming Inf orma tion 74 RC Cha[...]

8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Adding Safety Limit Switc hes 95 Using Cu rrent Limitin g as Protection 97 Contro l Loop Descr iption 97 PID tuning in P osition M ode 98 SECTION 10 Closed Loop Speed Mo de 101 Mode Descri ption 101 Selecti ng the Spee d Mode 10 1 T ac hometer or En coder Moun ting 10 2 T a[...]

AX3500 Motor Controll er User ’ s Manu al 9 SECTION 13 Analog Con trol and Op eration 127 Mode Descrip tion 127 Conne ctor I/O Pi n Assignment (Analog Mod e) 128 Conne cting to a V olt age Source 12 9 Conne cting a P ote ntiometer 12 9 Select ing the P ote ntiomet er V alue 13 0 Analog Dea dband Adjustmen t 131 Po w e r - O n S a fe t y 132 Under[...]

10 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 Acc el er at io n 150 Input Switc hes F unction 151 RC Joys ti c k o r A na lo g De ad ba nd 152 Expone ntiation on Channel 1 and Channel 2 152 Lef t /Right Adjust 152 Default Encoder T ime Base 1 and 2 153 Default Encoder Di sta nce Divider 153 Default PID Gains 154 Jo ys[...]

AX3500 Motor Controll er User ’ s Manu al 11 Programming usi ng built -in Switc hes and Dis play 17 5 Entering Programming Mod e 17 6 Changing pa rameters 17 7 T he Spec ial Case of J o ysti c k Calibra tion 17 7 Re stor ing f actory def aults 178 Exitin g the Pa rameter Set ting Mode 17 8 Programmable Parameters List 17 8 SECTION 16 Using t he R[...]

12 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 13 SECTION 1 Impor tant S afe ty W arnings Read this Section First The AX3500 is a high po wer electr onics dev ice. Ser iou s damag e, including fir e, may occur t o the unit, motors, wir ing an d batt er ies a s a r esult of its misuse. T r ansist ors ma y exp lode and r equir e the use of s af ety glas[...]

Imp ortant Sa fety Wa rnin gs 14 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 15 SECTION 2 AX350 0 Quic k Star t Thi s sectio n will g ive you t he basic in fo rmation ne eded to qu ic kly in stall, set up a nd r un you r AX3500 controller i n a minima l configu ration. What you will need F or a mi nimal in stallation, ga ther the f oll owing c omponent s: • One AX3500 Contro lle[...]

AX350 0 Quic k Start 16 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b . Ju ne 1, 2007 The front side (sho wn in Figure 1) contains the but to ns and displa y needed to opera te and monitor th e controll er . The 1 5-pin connecto r prov ides the connecti on to the R/C ra dio, jo y- stic k or microcom puter , as w ell as connec tions to o[...]

AX3500 Motor Controll er User ’ s Manu al 17 Connecting to the Bat teries and Motors Connecting to the Bat teries and Motors Connecti on to the ba t teries and motors i s sho wn in the fig ure belo w and is done b y con- nect ing wires to the Fa st-on tabs on the control ler. 1 - Connect ea c h motor to one of the tw o M+ and M- tabs pairs. Ma ke[...]

AX350 0 Quic k Start 18 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Do not r ely on cu ttin g pow er t o the contr oller f or it to t ur n of f if the P o w er Contr ol is lef t floating. I f mot ors ar e spinning because the r obo t is pushed ar e pus hed or because of inerti a, they will act as g e[...]

AX3500 Motor Controll er User ’ s Manu al 19 Connecting the R/C Radio Connecting t he R/C Radio Connect the R/C adapter cable s to the controller on one side and to two or three c hannels on the R/C r eceiv er on the other side. When opera ting the cont roller in “ Sep arate ” mode, the wire labe lled Ch1 con trols Motor1, and the wire labe l[...]

AX350 0 Quic k Start 20 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 T o pow er the con troller , center th e jo ystic k and trims on the R/C trans mit ter . In An alog mode, c enter the co mmand po tentioment er or jo ys tic k.T hen t urn on the switc h that y ou ha ve p laced on the on the P o wer C ontrol inpu t. If t[...]

AX3500 Motor Controll er User ’ s Manu al 21 Default Controller Configuration Default Co ntroller Conf iguration V ersion 1 .9b of the AX3500 sof tw are is config ured with the fa ctor y def aults sho wn in the table belo w . Although Robote q strive s to k eep the sam e parameters and v alues from one ve rsion to the nex t, c han ges ma y occur [...]

AX350 0 Quic k Start 22 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Connecting t he contro ller to y our PC usin g Roborun Connecti ng the con troller to y our PC is not neces sar y fo r basic R/ C operation . How e ver , it is a v er y sim ple procedure that is us eful f or the f ollo wing pu rposes: • to R ead and S[...]

AX3500 Motor Controll er User ’ s Manu al 23 Obtaining the Controller ’ s Software Revi sion Nu mber T o connect the contro ller to your PC, use the pr ovided ca ble. Connect the 1 5-pin connecto r to the c ontroller . Conne ct the 9- pin conn ector to y our PC ’ s avail able po rt (t ypic ally CO M1) - use a US B to serial adapter i f needed[...]

AX350 0 Quic k Start 24 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 It is also poss ible to get the controll er to displa y the sof tware version nu mber by follo wing these s imple ste ps • Disconnect th e pow er fro m the motor bat teries. P ow er the cont roller only v ia the P o wer C ontrol inpu t. • Press an d[...]

AX3500 Motor Controll er User ’ s Manu al 25 SECTION 3 AX350 0 Motor Contr oller Ov er view Congrat ulati ons! B y selec ting R oboteq ’ s AX3500 you ha v e empo w ered yo urself with the industr y ’ s mos t versa tile, and prog rammable DC Mo tor Controlle r for mobile robots. This ma nual wi ll guide you step b y step th rough its m any pos[...]

AX350 0 Motor Controller Ove r vie w 26 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The motors ar e driv en using high-ef fi ciency P ow er MOSFE T transi stors con trolled us ing Pulse W idth Modul ation (PWM) at 1 6kHz. The AX350 0 power st ages can ope rate f rom 1 2 to 40VD C and can s ustain up to 60A of controlle [...]

AX3500 Motor Controll er User ’ s Manu al 27 T ec hnical features • Motor temp erat ure senso r inputs • Externa l voltage sensors • User defi ned purpos e (RS2 32 mode o nly) • 2 Extra anal og inputs (on Re vB hardw are). Used a s: • P otentiometer in put fo r position while in analog command mode • User defi ned purpos e (RS2 32 mod[...]

AX350 0 Motor Controller Ove r vie w 28 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 • 60A up to 1 5 second s (per c hannel) • 50A up to 3 0 seconds • 40A e xtended • High cur rent op eration ma y be e xtend ed with f orced c ooling • 250A peak Amps per c hannel • 1 6kHz P ulse Width Modulati on (PWM) outp ut[...]

AX3500 Motor Controll er User ’ s Manu al 29 P o wer Connections SECTION 4 Connecting P o w er and Motor s to the Contr oller Thi s section describes the AX35 00 Controller ’ s connecti ons to po wer sourc es and moto rs. Importa nt W arning Please f ollo w the ins tr uctions in this section v ery ca refull y . An y pr oblem due to w ir- ing er[...]

Connecting P o wer and Motors to the Controller 30 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Co ntro ll er P ower The AX3 50 0 uses a flexible power supp ly scheme th at is best de scrib ed in Figur e 9. In this diagram, i t can be s een that th e po wer f or the Con troller ’ s microcompu ter is separate from this [...]

AX3500 Motor Controll er User ’ s Manu al 31 Controller P o wer When po w ered on ly via th e P o w er Control input, th e controller will t urn On but moto rs will not be a ble to tu rn until po w er is also pre sent on the VM ot tabs The P ow er Co ntrol input al so ser ves as t he Enab le sig nal for the DC /DC converter . When floating or pul[...]

Connecting P o wer and Motors to the Controller 32 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 All 3 grou nd (-) are connecte d to eac h o ther insid e the controll er . The tw o main ba t ter y wires a re also con nected to eac h o ther interna lly . How e ver , y ou must nev er assu me that connec ting one w ire of a [...]

AX3500 Motor Controll er User ’ s Manu al 33 Controller P o wering S c hemes The re is no need to inser t a separate switc h on P ow er cabl es, although f or sa f ety reasons, it is highly recommend ed that a w ay of quic kly disconne cting the Motor P ow er be pro vided in the c ase of lo ss of control and all of the AX3500 saf et y f eat ures [...]

Connecting P o wer and Motors to the Controller 34 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning Unless y ou can ensur e a st eady 12V to 40V v oltag e in all cond itions, it is r e com- mend ed th at th e battery u sed to power the c ontroll er ’ s e lectronics be sep arate fr om the one us ed to p [...]

AX3500 Motor Controll er User ’ s Manu al 35 Single Channel O peration If yo u ar e using this type of motor , mak e sur e that it is mo unted on i solato rs and that its casi ng will not caus e a shor t circ uit with other mot ors and circui ts which may also be i nadv ert ently con nect ed to the same me tal chass is. Single Channel Operation T[...]

Connecting P o wer and Motors to the Controller 36 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 It will be saf e to wire in paralle l the con troller ’ s outputs onl y af ter y ou ha v e verifi ed that both outp uts react ide ntically to c hannel 1 commands. Po we r F u s e s F or lo w Amperage applica tions (belo w 30[...]

AX3500 Motor Controll er User ’ s Manu al 37 Wire Length Limits Wire Length Limits The AX3500 regulates the o utput pow er b y switc hing the pow er to the m otors On and Of f at high frequencie s. At suc h frequenci es, the wi res ’ indu ctance produc es undes irable ef f ec ts suc h as parasiti c RF emis sions, ringi ng and o v er vo ltage pe[...]

Connecting P o wer and Motors to the Controller 38 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 that time , the regene rated curren t will at tempt to flo w bac k to the bat tery . Since none i s present, the v oltage will ri se to pote ntially uns af e le vel s. The AX 3500 include s an o ve r volt- age prote ction circ[...]

AX3500 Motor Controll er User ’ s Manu al 39 Using the Controlle r with a P ow er Supply Using the Contro ller with a P o wer Suppl y Using a transf ormer or a switc hing pow er s upply is po ssible b ut requires special c are, as the cur rent will want to flow bac k from the motors to th e pow er s upply during regenera- tion. As di scussed in ?[...]

Connecting P o wer and Motors to the Controller 40 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 41 Basic Operat ion SECTION 5 General Operation Thi s section dis cusses the co ntroller ’ s normal operation in all i ts sup ported ope rating mode s. Basic Operation The AX35 00 ’ s o peration c an be summa riz ed as f ollo ws: • Recei ve c ommands fro m a radio receiv er , joy stic k or a mic roc[...]

General O peration 42 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Selecting the Moto r Control Modes F or eac h motor , the AX3500 support s multipl e motion cont rol modes . The controller ’ s fa c- tory def ault m ode is Open Loop Speed co ntrol f or eac h motor . The mo de can b e c hanged using a ny o f the meth o[...]

AX3500 Motor Controll er User ’ s Manu al 43 Selecting the Motor Contr ol Modes Closed Loop Speed Contr ol In this mode, ill ustrated in F igure 18 , an analog tac hometer or an optical enc oder is u sed to measure the act ual moto r speed. If the speed c hanges because of c hang es in loa d, the controll er automa tically com pensates th e pow e[...]

General O peration 44 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 User Selected Current Limit Set tings The AX35 00 has curr ent sen sors at each of its t wo outp ut st age s. Ever y 1 6 ms, thi s cur- rent is m easured and a corre ction to th e output po we r lev el is applied if higher tha n the user pres et v alue. T[...]

AX3500 Motor Controll er User ’ s Manu al 45 Battery Cu rren t vs . Mot or Cur ren t When the measured temperat ure rea c hes 80oC , the co ntroller ’ s maximu m cur rent limit begins to drop to reac h 0A at 1 00oC. Abov e 1 0 0oC, the c ontroller ’ s po w er stage t urns i tself of f com pletely . The numb ers i n the tab le ar e the ma x Am[...]

General O peration 46 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The relation between B at te r y Curr ent and Motor c urren t is giv en in the formul a belo w: Motor Cu rr en t = Bat tery Cur ren t / PWM Ratio Example: I f the contro ller reports 1 0A of ba t tery current wh ile at 1 0% PWM, the c urrent i n the motor[...]

AX3500 Motor Controll er User ’ s Manu al 47 Pr ogrammable A ccelerati on P rogrammable A cceleration When c hanging sp eed comm and, the AX3 500 will go fr om the pres ent speed to the desir ed one at a user s elect ab le accel erati on. This feature is ne cessar y in ord er to min imize the surge curr ent and mec hanical stress du ring abr upt [...]

General O peration 48 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 When con figuring th e accelera tion param eter using the Ro boru n utility , four additiona l accel eration steps can be s elected between th e six ones selectable u sing the swi tc h, ex tending the s low est acce leration to 2.04 seconds fro m 0 to max[...]

AX3500 Motor Controll er User ’ s Manu al 49 Lef t / Right T uning Adjustment The AX35 00 is deli vered wi th the “ li near ” cu r ves se lected f or bo th joy stic k c hannels . T o select di f f erent cur ve s, the user will nee d to c hang e the valu es of “ E ” (c hanne l 1) and “ F ” (c ha nnel 2) ac cording to th e table belo w [...]

General O peration 50 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 is f ound on a ll R/C transmi t ters, and whi c h is ac tual ly an of fset corr ection, the L ef t/Right A djustmen t is a tr ue mul tiplicati on fa ctor as s hown in Figur e 22 The curves on the lef t show how a giv en f or ward direction command value w[...]

AX3500 Motor Controll er User ’ s Manu al 51 Activ ating Brake Release or Separate Motor Ex citation Activ ating Br ak e Releas e or Separate Mot or Ex citation The controlle r may b e configur ed so that the Output C w ill t urn On when ev er one of the two moto rs is r unning. T his f ea ture is typically us ed to ac tiva te the mec hanical bra[...]

General O peration 52 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The swi tc h conne ction is desc ribe d in “ Conn ectin g Switc hes or Devic es to E Stop/ Invert Input ” o n page 6 1. Th e switc h must be suc h that it i s in the open state i n the norm al sit ua- tion and closed to signal an emergenc y stop c omm[...]

AX3500 Motor Controll er User ’ s Manu al 53 Self-T est Mode When the input is pull ed high, a ll the po we r MOSFE Ts are t urned Of f so tha t the motors are ef fe ctiv ely discon nected from the contro ller . Thi s function i s t ypi cally used to c reate a “ dead ma n swi tc h ” when the co ntroller is driv en using a n analog j oys tic k[...]

General O peration 54 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 • Encoder Sp eed or P osition The entire string is repeated e ve r y 224 milliseco nds with the latest inte rnal parameter v al- ues. This in fo rmation c an be logged using th e Robo r un Utility (see “ Vi ewi ng a nd Log gi ng Data in Analog a nd R/[...]

AX3500 Motor Controll er User ’ s Manu al 55 AX350 0 Connections SECTION 6 Connecting S ensor s and A ctuator s to Input/Outputs Thi s sectio n descri bes the v arious i nputs an d output s and pro vides g uidance on ho w to conne ct senso rs, ac tuators or o ther ac cessor ies to t hem. AX3500 Connections The AX3500 uses a s et of po wer wires ([...]

Connecting S ensor s and A ctuators to Input/Outputs 56 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 AX3500 ’ s Inputs an d Output s In addi tion to t he RS2 32 and R/C c hannel comm unicatio n lines, the AX3500 incl udes se v- eral inputs and o utputs for v arious s ensors and act uators. D epending on the se lected o[...]

AX3500 Motor Controll er User ’ s Manu al 57 AX350 0 ’ s Inputs and Outputs ating mo de, some of these I/ Os pro vide f e edbac k and/or saf et y in forma tion to the controll er . When the controller operates i n modes that do not use these I/O , these sign als bec ome av ail able f or user applicat ion. B elo w is a summa r y of the a v ailab[...]

Connecting S ensor s and A ctuators to Input/Outputs 58 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 I/O List an d Pin Assi gnment The figure and table belo w lists al l the input s and outp uts that are av ailabl e on the AX35 00. T ABLE 1 0. DB1 5 connector pin assign ment Pin Numbe r Input or Output Signal depending o[...]

AX3500 Motor Controll er User ’ s Manu al 59 Connecting devic es to Output C **T hese con nections should onl y be done in RS 232 mode o r R/C mod e with radio pow- ered from the con troller . Connecti ng devi ces to Output C Output C is a buf f ered , Open Drain MOSFE T output c apable of driv ing o ver 2A a t up to 24V . The diagrams on F igure[...]

Connecting S ensor s and A ctuators to Input/Outputs 60 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s output ca n be t urned On and Of f using the Chann el 3 J oy stic k when in th e R/C mode. See “ Note: Ch annel 3 is not a v ailable on the cont rollers eq uipped w ith enco der input s. ” on page 1 24 for more [...]

AX3500 Motor Controll er User ’ s Manu al 61 Connecting S witc hes or De vices to EStop/In v ert Input On co ntrollers p rior to R ev B , Input F is an opto-c oupled in put and requires th e buf f er to be pow ered with a c onnection be tween pin 1 4 and 7 , and be t w een 1 3 and 6, to op erate.T his pow er c onnection in not neede d on R evB h [...]

Connecting S ensor s and A ctuators to Input/Outputs 62 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The stat us of the ES top/In v can be rea d at all times in t he RS2 32 mode w ith the ?i com- mand s tring. The con troller will re spond w ith three sets of 2 digit n umbers. T he stat us of the ES/In v Inpu t is contai[...]

AX3500 Motor Controll er User ’ s Manu al 63 Connecting T ac hometer to Analog Inputs Connecti ng the pote ntiometer to the control ler is as simple as sho wn in the di agram on Figur e 32. The potentiom eter must be at t ac hed to the mo tor frame so th at its bo dy does no t mov e in relation ship with the motor . T he potent iometer axle must [...]

Connecting S ensor s and A ctuators to Input/Outputs 64 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Since th e controll er only acc epts a 0 to 5V p ositiv e vol t age as its inpu t, the circu it show n in Figure 33 mus t be used between the controlle r and the tac hometer: a 1 0k Ohm potentiom - eter i s used to sc ale[...]

AX3500 Motor Controll er User ’ s Manu al 65 Connecting External Thermistor to Analog Inputs Connecti ng External Thermi stor to An alog Inputs Using e xterna l thermist ors, the AX35 00 can be made to superv ise the motor ’ s temp era- t ure and adjust the po w er output in case of o v erheatin g . Con necting th ermistors is done according to[...]

Connecting S ensor s and A ctuators to Input/Outputs 66 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 T o read t he temp erature, use th e ?p comma nd to ha ve t he control ler ret urn the A/D con- ve rter ’ s v alue. T he v alue is a si gned 8-bi t hex adecimal v alu e. Use the c hart data to con v ert the ra w reading[...]

AX3500 Motor Controll er User ’ s Manu al 67 Connecting User De vices to Analog Inputs Meas ure d volts = ((contr oller r eading + 1 28) * 0.255) -5 Note: The A/D con verter ’ s reading is ret urned b y the ?p comma nd and is a signe d 8-bit hex adecim al val ue. Y ou must add 1 28 to bring its ra nge from -1 27/+1 27 to 0/255. Connecting User [...]

Connecting S ensor s and A ctuators to Input/Outputs 68 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The se sensors are used to a utomatical ly reduce the maximum Am ps that the co ntroller can de live r as it o v erheats. Ho w ev er , the temp erat ure can b e read usi ng the R S232 port using th e ?m quer y , or during[...]

AX3500 Motor Controll er User ’ s Manu al 69 Internal Heats ink T emperat ure Sensors else { LoTemp =i*5-4 0 ; HiTemp = LoTemp + 5; lobound = TempTable[i]; hibound = TempTable[i+1]; temp = LoTemp + (5 * ((AnaValue - lobound) *100/ (hibound - lobound)))/100; return temp; } }[...]

Connecting S ensor s and A ctuators to Input/Outputs 70 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 71 RC Puls e Output Overvie w SECTION 7 RC P ulses Output Thi s sectio n describes the P ulse outputs on the AX35 0 0. RC Pulse Output Overview The AX3500 is equipp ed with a n RC pu lse outpu t port fo r driving R C servos or a dditional R oboteq co ntrollers. Up to 8 de vices ca n be con trolled in this[...]

RC Pulse s Output 72 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Connector Location and Pinout Figure 4 0 belo w sho ws the lo cation of the RC Output con nector an d its pin a ssignment. Thre e pins a re pro vided f or eac h output, ma tc hing t he pinout of s tandard F utaba RC con - nect ors. Connecting S ervo s to C[...]

AX3500 Motor Controll er User ’ s Manu al 73 Connecting to Slav e Controllers In most a pplica tions, ho we v er , a separate pow er supp ly must b e prov ided to po w er the ser vos. , as s hown in Fi gure 42. Note: When at tempti ng to supp ly po wer from the AX3500 to a s tandard or hea vy duty ser v o, the cur rent will surge e very time the [...]

RC Pulse s Output 74 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 ler . T he figures b elow sho ws how to make th is conne ction. T he red wi re from the AX3 500 to the Sla v e Controller may be lef t u ncut if the red loop wire is cut instead . A more detaile d descriptio n of the AX35 00 RC Inp ut circuit can b e f oun[...]

AX3500 Motor Controll er User ’ s Manu al 75 RC Channel T esting Using the PC Utility Importa nt W arning The *mm c ommand is also used to acc ess the En coder module ’ s registers. Do not alt er an y r andom loca tions as this ma y ca use pr ogr am exec ution f ailur e i nside the encoder m odule. See “ Re giste r Descr iption ” on pag e 1[...]

RC Pulse s Output 76 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 77 Optical Increm ental Encoders Overview SECTION 8 Connecting and Using the Encoder Fu n c t i o n Thi s sectio n describes the Encod er input modu le that is built i nto the AX35 00 . Optical Incremental Encoder s Overview Optic al incre ment al enc oder s are a mea ns for capturin g speed and travelled[...]

Connecting and Using the Encoder F unction 78 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The figure bel ow s hows the typical co nstr uction of a quadrat ure enc oder . As the disk rotates in front o f the stationar y mask , it shut te rs light from the LED . T he light th at passes through the mask is recei ved b y th[...]

AX3500 Motor Controll er User ’ s Manu al 79 Connecting the Encoder Specifi cally , the en coder mod ule can p rocess 250, 00 0 co unts per sec onds. A s discu ssed in the pre vio us section, a count i s generated f or eac h transition o n the Chan nel A and Channel B . Ther efore the module will w ork with encoders out put tin g up to 62,500 pul[...]

Connecting and Using the Encoder F unction 80 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Cable Length and Noise Considerations Cable shou ld not exc eed one 3 ’ (one meter) to a voi d electrica l noise to be capt ured b y the wiring. A f er rite core fi lter must b e used f or length bey ond 2 ’ (6 0 cm). F o r lon[...]

AX3500 Motor Controll er User ’ s Manu al 81 V oltage Lev els, Thresholds a nd Limit Switc h es Using the PC util it y , it is possible to ex ercise the motors a nd vie w the enco der readin gs. See “ Enc oder T esting and Set ting Using the PC Utility ” on page 87 . If the Enc oder coun ts bac kw ards w hen the mo tor mov es f or ward , cor [...]

Connecting and Using the Encoder F unction 82 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Importa nt W arning When a lim it switc h is activ at ed, the enc oder signal that is shar ed with the switch is no long er visible by the encoder module, and pulse c ounting and spe ed measur e- ment st ops. Wiring Optional Limit [...]

AX3500 Motor Controll er User ’ s Manu al 83 Wiring Limit S witc hes Without Encoders When the switc h is activ ated, the m odule ’ s inpu t is pull ed to 0V . It is recomm ended that a v oltmet er and/or oscill oscope be us ed to verify that the right v olt- age le v els are crea ted as the e ncoder rotates and the switc hes activ ate. Y ou ma[...]

Connecting and Using the Encoder F unction 84 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 In Singl e Channel Mode, li mit switc hes 3 a nd 4 are u sed. Th is is to allo w direct c onnection of an e nco der on t he inp uts for c hannel 1 and di rect conne ction of swi tc hes on the i nputs f or c hanne l 2 Using the Enco[...]

AX3500 Motor Controll er User ’ s Manu al 85 Using the Encoder to T rac k P osition The relations hip betw een the me asured spee d and the act ual speed i s a f actor of tw o va ri- able pa rameters: a Time B ased peri od v alue sto red inside the Encoder m odule an d the Encoder ’ s number of P ulses p er Re v olution. No te: the Encode r ’[...]

Connecting and Using the Encoder F unction 86 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 reac h ed. T his mo veme nt is con trolled b y the PID pos ition al gorithm in side the c ontroller and is t here fore best suit ed at tr ac king p osit ion. Since th e control ler uses a signed 8- bit v alue (-1 27 to +1 27) for t[...]

AX3500 Motor Controll er User ’ s Manu al 87 RS232 Communication with the Encoder Mo dule RS232 Commu nication w ith the Encoder M odule The AX3500 contains its o wn M icrocontro ller and firmw are in Flash. Wh en present , it respond s to a large set of dedi cated com mands and q ueries vi a the contro ller ’ s serial port. See “ RS232 En co[...]

Connecting and Using the Encoder F unction 88 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 89 Mode Description SECTION 9 Closed Loop P osition Mode Thi s sectio n describe s the AX3500 P o sition mo de, ho w to wire the motor and po sition se n- sor assem bly and ho w to t u ne and opera te the contro ller in this mode. Mode Desc ription In this mode, the axle o f a geare d-down motor is couple[...]

Closed Loop P osition Mode 90 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 P os ition Se nsor S electi on The AX35 00 may be used with t he foll owing kin d of se nsors : • P otentio meters • Hall ef fec t angula r sensors • Opti cal En coders The first two a re used to generate an anal og vo ltage ranging from 0V [...]

AX3500 Motor Controll er User ’ s Manu al 91 Feedba c k P otentiometer wiring The m ec han ical co upling be t w een the motor and th e senso r must be a s tight as po ssible. If the gear bo x i s loose, the po sitionin g will not be accurate and will be unstable, pot entially causing the motor to os cillate. Some sens or , suc h as poten tiomete[...]

Closed Loop P osition Mode 92 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Feedbac k P otentiometer wiri ng in Analog Mode When the c ontroller is config ured in Ana log mode, the analog inputs 1 a nd 2 are use d f or comman ds whil e the analog inputs 3 and 4 are used f or f eedba c k. Ana log inputs 3 and 4 have dif fe[...]

AX3500 Motor Controll er User ’ s Manu al 93 Analog F eedbac k on Single Channel Contr ollers Analog F eedbac k on Single Channel Contr ollers On Sing le Channe l controllers (SC V ersion - no t to be con fused with D ual Chan nel control- lers o f which only on e c hann el is us ed for posi tion contro l - See “ Single Channe l Opera- tion ”[...]

Closed Loop P osition Mode 94 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Thi s wiring is also the one to use when the controlle r is in Analo g mode bu t switc hed to R S232 af ter reset using the method discusse d in “ Enteri ng RS 232 from R/C or Ana log mode ” on pa ge 1 40 Using Optical En coder s in P osi tion[...]

AX3500 Motor Controll er User ’ s Manu al 95 Encoder Err or Detection and Pr otection 10 . If the motor t urns in th e direction a w ay fro m the sensor , then the polari t y is rev ersed . The wire pol arity on the mot ors should b e ex c h anged. If u sing a poten ti- ometer as sensor , t he GND and + 5V wires on the potentiometer may be swappe[...]

Closed Loop P osition Mode 96 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 The diode pola rity depends on the pa rticular wirin g and motor orie ntation used in t he appli- cation. If the diod e is mounted bac kw ards, th e motor will not stop on ce the li mit switc h lev er is pressed. If this is th e case, re ve rse th[...]

AX3500 Motor Controll er User ’ s Manu al 97 Using Current Limiting as Pr otection Importa nt W arning Limit switc hes mus t be used w hen oper ating the contr oll er in P osition Mode . This will sign ificantly r educe the r isk of me chani cal damag e and/or injury in case of dam- age to th e position sens or or sensor wir ing. Using Cur rent L[...]

Closed Loop P osition Mode 98 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 A higher P ro portional G ain will ca use the a lgorithm t o apply a h igher le ve l of po we r for a giv en measur ed error , thus maki ng the motor mo ve qui c k er . Becaus e of inertia, ho we v er , a f aster mo ving motor will ha v e more dif[...]

AX3500 Motor Controll er User ’ s Manu al 99 PID tuning in P osition Mode The Rob orun PC utility mak es this e xperimen tation easy b y pro viding one s creen f or c han g- ing t he Pro portional, Integral and Dif f eren tial gains a nd anoth er screen for r unning and monitori ng the moto rs. When t uning the motor , first start with the Integr[...]

Closed Loop P osition Mode 10 0 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007[...]

AX3500 Motor Controll er User ’ s Manu al 101 Mode Description SECTION 10 Closed Loop Speed Mode Thi s sectio n discuss es the AX35 0 0 Clo se L oop Speed mode. Mode Desc ription In this mode, an analog or digital sp eed sens or measures the ac tual motor sp eed and com- pares i t to the desi red speed . If the spe ed c ha nges becau se of c h an[...]

Closed Loop Speed Mode 10 2 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 Using Optical Encoder for Speed F eedbac k Digi t al O ptical Encod- ers m ay be u sed to ca ptu re accura te motor sp eed. T his capab ility is only a v ailabl e on con- trollers fit ted wi th the optiona l encoder mo dule. Detailed i nform atio[...]

AX3500 Motor Controll er User ’ s Manu al 10 3 Speed Sens or and Motor P olarity Speed S ensor and Mot or P olari ty The tac hometer o r encoder polarity (i.e. w hic h rotation d irection produces a positiv e of negativ e speed info rmation) i s related to the motor ’ s ro tat ion sp eed an d the d irect ion th e motor t urns w hen po wer is ap[...]

Closed Loop Speed Mode 10 4 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 A djust Offset and Max Speed F or pr oper operat ion, the contro ller must see a 0 a nalog spee d va lue (2.5V v oltage on th e analog input). T o adjust th e 0 val ue when the m otors are s topped, u se the R obor un utili t y to vie w the analo[...]

AX3500 Motor Controll er User ’ s Manu al 10 5 PID tuning in Speed Mode The Dif f ere ntial compon ent of the alg orithm compute s the c hanges to the er ror from on e 1 6 ms time peri od to the ne xt. T his c hange will be a relativ ely la rge number ev er y tim e an abr upt c hange occurs on the de sired speed val ue or the me asured s peed va [...]

Closed Loop Speed Mode 10 6 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 In Speed Mo de, the Integra l component of th e PID is the mos t important and must be s et first. T he P roportio nal and Dif feren tial comp onent will hel p impro ve th e respons e time and loop stability . In the ca se where the load mo v ed [...]

AX3500 Motor Controll er User ’ s Manu al 10 7 Use of the LE D Displa y SECTION 1 1 Normal and F ault Condition LED Messages Thi s sectio n discus ses the meaning of th e va rious mes sages and codes th at ma y be dis - pla yed on the LED d ispla y during n ormal ope ration and faul t conditions . Use of the LED Display The AX3500 uses a s ingle [...]

Normal and F ault Condition LED Messages 10 8 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 Motor Direction Status When the c ontroller is r unning, two pa irs of LED segm ents are d irectly rela ted to com - mand inf ormatio ns to the P o we r Output stage. Th e position and mea ning of the segme nts are sho wn i n th[...]

AX3500 Motor Controll er User ’ s Manu al 10 9 Fau l t M e ss ag es Fault M essages The AX3500 uses the L ED displa y to re port fa ult condi tions. When th ese mess ages are displa y ed, the m otors are n ormally stopped. No Contr ol Thi s message is disp lay ed in the R/C mode to i ndicate tha t no v alid radio s ignal has been detected at its [...]

Normal and F ault Condition LED Messages 11 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 T emporary F aults T emporar y F aults a re conditi on that ca use the contr oller ’ s P ower Output s t age to t urn Of f and rema in of f f or as long as the f ault is p resent. T emporary Faults are indic ated with the LED di [...]

AX3500 Motor Controll er User ’ s Manu al 111 Self-T est Display = Sof tware v ersion 1 .9b FIG URE 70 . Examp le of So f t w ar e revisi on num ber di splay[...]

Normal and F ault Condition LED Messages 11 2 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007[...]

AX3500 Motor Controll er User ’ s Manu al 11 3 Mode Description SECTION 12 R/C Operation Thi s section describes the contr oller ’ s wiring and func tions specif ic to the R/C radio control mode. Mode Des cription The AX3500 can be di rectly co nnected to an R/C rece iver . In th is mode, the s peed or p osi- tion inf ormat ion is contain ed in[...]

R/C Oper ati on 11 4 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 S electing the R/C Input Mode The R/C Input Mo de is the f acto r y def ault set tin g . If the con troller ha s been pre viou sly set to a di f f erent I nput Mode, it will b e necessary to reset it to the R/C mode using one o f the f ollow ing meth od[...]

AX3500 Motor Controll er User ’ s Manu al 11 5 R/C Input Circuit Description R/C Inpu t Circuit Description The AX3500 R/C inputs are direct ly connec ted to the MCU l ogic. Fi gure 73 sh ows an elec- trical repre sentation of the R/C i nput circuit. Supplie d Cable Descrip tion The AX3500 is deliv ered with a custom cable with the fo llow ing wi[...]

R/C Oper ati on 11 6 AX350 0 Motor Con troller User ’ s Manua l V ersio n 1 .9b. June 1 , 2007 . P o wering the Radio from the contr oller The 5V po wer and groun d signal s that are av ailable on the co ntroller ’ s conne ctor ma y b e used to pow er the R/ C radio. T he wire l oop is us ed to brin g the controlle r ’ s pow er to the the rad[...]

AX3500 Motor Controll er User ’ s Manu al 11 7 P o wering the Radio fr om the controller Importa nt W arning Do not conne ct a bat t ery to the radio w hen in this m ode. The bat te ry volta ge wi ll flow dir ectly into t he con trol ler and c ause pe rm anent d amage i f its voltag e is higher than 5. 5V . This mode of op erati on is t he mos t [...]

R/C Oper ati on 11 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Connecting t o a Separat ely P ow ered Radio Thi s wiring option must be used w hen the contro ller is use d with a R C receiv er that is pow ered by i ts ow n separate bat te r y . The red wire in t he loop must be cut so that the 5V out from th e control[...]

AX3500 Motor Controll er User ’ s Manu al 11 9 Reception W atc hdog ond ind icates th e minimum joy stic k position a nd 2.0 mi llisecon ds indic ates the maximum joy stic k position. When the jo ys tic k is i n the cente r positio n, the pulse s hould be 1 .5ms. Note that the real pulse-len gth to joy sti c k-positi on numbers tha t are generate[...]

R/C Oper ati on 12 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 If no pul ses are p resent, the motors are di sabled, and the co ntroller ’ s disp lay will sc roll alternat ively th e let ters “ no ctrl ” as s how n in Figur e 81 belo w . Af ter pow ering on the R/C radio receiv er and tran smit ter , and if th e[...]

AX3500 Motor Controll er User ’ s Manu al 121 Joystic k Deadband Pr ogramming noise is generated. Sec tion “ Electrica l Noise R eduction T ec hniques ” on page 37 pro vides a f e w suggesti ons f or redu cing the amo unt of elec trical nois e generate d in you r robot. Joystic k Deadband Pro gramming In order to av oid unde sired moto r acti[...]

R/C Oper ati on 12 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Command Cont rol Cu r v es The AX3500 can also be se t to translate the joy stic k motor comma nds so that the m otors respond dif f ere ntly depe nding on whether the joy stic k is near the center or near the ex tremes. Fiv e di f f erent exponen tial or [...]

AX3500 Motor Controll er User ’ s Manu al 123 Automatic Jo ystic k Calibration The re are t w o method s for c alibrati ng the jo y stic ks: • The a utomatic method is the simpl est and is b ased on the controller “ learn ing ” the joy stic k ’ s parameters u sing the s imple traini ng seque nce desc ribed bel ow . • The m anual metho d[...]

R/C Oper ati on 12 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Notes: If y ou at tempt to calibra te the jo ysti c ks whil e the radio i s of f or no t connecte d to the co n- troller , the calibration data will no t c hange a nd the pre viou sly stored i nforma tion wil l con- tinu e to be used. If cali bration i s p[...]

AX3500 Motor Controll er User ’ s Manu al 125 Data Logging in R/C Mode PC ’ s communicati on port. Fi gure 84 an d belo w sho ws the w iring diagra m of the mo dified R/C cable for c onnection to a PC. 1 2 3 4 7 8 9 5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 6 RX Data RS232 Data Out GND R/C Ch 1 R/C Ch 2 R/C GND R/C +5V GND DB9 Female T o PC DB15 Ma[...]

R/C Oper ati on 12 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 127 Mode Description SECTION 13 Analog Control and Operation Thi s sectio n descri bes ho w the motors may be opera ted using analog voltage c ommands. Mode Desc ription The AX3500 can be configure d to use a 0 to 5V anal og v oltage, typically pro duced us ing a potentiom eter , to control eac h of its t[...]

Analog Control and O peration 12 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Connector I/O Pin Assi gnment (Analog Mod e) When use d in the An alog mod e, the pins on the contro ller ’ s DB1 5 con nector are mapped as des cribed in the t abl e belo w T ABLE 21 . DB15 Connector pin assignme nt in Analog mo de Pin Num[...]

AX3500 Motor Controll er User ’ s Manu al 129 Connecting to a V oltage S ource Connecting to a V oltage S ource The analog inputs e xpec t a DC v oltage of 0 to 5V whic h can be so urced b y an y custom cir- cuitr y (po tent iomete r , Digit al t o Ana log co nv ert er). The controlle r considers 2.5V to be the z ero position (Motor Of f). 0V is [...]

Analog Control and O peration 13 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 The controlle r include s two 47K ohm resis tors pull ing the in put to a mi d-vo ltage point of 2.5V . When configu red in the An alog Inpu t mode, this w ill cause the motors to b e at the Of f state if t he control ler is po were d with no[...]

AX3500 Motor Controll er User ’ s Manu al 131 Analog Deadband A djustment 1 00K or higher pote ntiometer . Figure 88 sh ows ho w the output v oltage va ries at the v ari- ous pote ntiometer pos itions fo r three typical potenti ometer v alues. Note tha t the ef f e ct i s an exponen tiatio n that wi ll cau se the mo tors to st art moving slowly a[...]

Analog Control and O peration 13 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt Notice Some analo g jo ysticks do not caus e the pot entiomet er t o r eac h either extre me. This may cau se the a nalo g volta ge r an ge to be above 0V an d bel ow 5V wh en the s tick is mov ed t o the extr em e, and ther ef or [...]

AX3500 Motor Controll er User ’ s Manu al 133 Data Logging in Analog Mode • Internal Hea t Sink tempera ture s 1 and 2 • Main B at ter y v oltage • Internal 1 2V voltage • Encoder Sp eed or P osition The entire string is repeate d ev ery 21 3 millisecond s with the la test internal parameter v al- ues. This i nfo rmation can be logged usi[...]

Analog Control and O peration 13 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 135 Use and benefits of RS232 SECTION 14 Serial (RS-232) Contr ols and Operation Thi s sectio n descri bes the co mmunicatio n set tings and the c ommands accepte d by the AX3500 in the R S2 32 mode of operation s. Th is inf ormation is useful if you plan to w rite yo ur ow n controll ing sof t wa re on a[...]

Serial (RS-232) Contr ols and Operation 13 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Connector I/O Pin Assi gnment (RS232 Mode) When use d in the R S232 m ode, the pi ns on the controlle r ’ s DB1 5 connector are mapped as des cribed in the t abl e belo w T ABLE 23. DB15 Conn ector pin as signment in R S232 mode P[...]

AX3500 Motor Controll er User ’ s Manu al 137 Cable configuration Cabl e conf ig uration The R S232 connec tion requi res the s pecial ca bling as described in the fi gure belo w . T he 9- pin f emale connecto r plugs in to the PC (or other micro controlle r). The 1 5-pin male co nnec- tor plugs into the AX 3500. It is cri tical tha t you do not [...]

Serial (RS-232) Contr ols and Operation 13 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Commu nicat ion Set tin gs The AX3500 serial comm unication po rt is set as follo ws: 960 0 bits/s, 7 -bit data, 1 Star t bit, 1 St op bit, Ev en P a r ity Communi cation is done wi thout flo w control, meaning t hat the co ntroller[...]

AX3500 Motor Controll er User ’ s Manu al 139 Establishing Manual Communica tion with a PC COM1port. Y ou can easily c hang e this set ting to a dif f e rent port from the program ’ s menu s. Note that s t artin g with v ersion 1 .9, the R obor un PC uti lity also inclu des a T erminal Emul a- tion Cons ole f or commun icating wit h the contro [...]

Serial (RS-232) Contr ols and Operation 14 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Af ter this info rmation i s sent, the En coder ’ s MCU wi ll “ li sten ” for appr oximatel y 1 0 0ms and will enter the In Sy stem P rogramm ing mode (ISP) if the let ter “ Z ” is s en t t o i t . W h il e i n the ISP mo [...]

AX3500 Motor Controll er User ’ s Manu al 141 Commands A c knowledge a nd Error Messages RS232 Mode if default If the con troller is configure d in R S232 mode , it will auto matically be in the R S2 32 mode upon res et or po wer up . In this case, th e “ OK ” message is sent a utomatically , indic ating that the con troller is ready to acce [...]

Serial (RS-232) Contr ols and Operation 14 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 RS-232 W atc hdog F or appl ications de manding the highe st operating s af ety , the controlle r may be configure d to autom atically stop the motors (but other wise rem ain fully a ctive) i f it fa ils to receiv e a c hara cter on[...]

AX3500 Motor Controll er User ’ s Manu al 143 Controller Commands and Q ueries S et Motor Command V alue Descrip tion: Send a spe ed of positio n value from 0 to 1 27 in the f or ward or rev erse dire ction f or a given c han nel. In mi xed mode, c hannel 1 v alue se ts the common forward and rev erse v alue f or both moto rs, while c hannel 2 se[...]

Serial (RS-232) Contr ols and Operation 14 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 applie d to the motors at that tim e. The num ber is a hexa decima l number ranging from 0 to +1 27 (0 to 7F in Hexadec imal) . In most cases, t his value is directl y rela ted to th e comma nd va lue, e xcept in the con ditions d e[...]

AX3500 Motor Controll er User ’ s Manu al 145 Controller Commands and Q ueries Query Analog Inputs Descrip tion: Thi s query will cause the controlle r to ret urn the v alues of the signa ls present a t its two analog inputs. I f the control ler is us ed in cl ose-loop speed mo de with a nalog f ee dbac k, th e va lues repre sent the act ual spee[...]

Serial (RS-232) Contr ols and Operation 14 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Query Bat t ery V oltages Descrip tion: Thi s query will ca use the controlle r to ret urn v alue s based on two i nternally m easured vol t- ages: the fir st is th e Main Batter y volt age pr esent at the thi c k red an d black wir[...]

AX3500 Motor Controll er User ’ s Manu al 147 Acc essing & Changing Configuration P arameter in Flash Syn t a x: % rrrrrr R eply: None. Controller w ill reset and displa y pro mpt message A ccessing & Changing Conf iguration P arameter in Flash It is po ssible t o use R S232 comman ds to e xamine a nd c ha nge the c ontroller ’ s parame[...]

Serial (RS-232) Contr ols and Operation 14 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 used (ins tead of reset ting the controller) to caus e these parameter s to take ef f ect af ter only a ~1 00ms del ay . Syn t a x: ^FF R eply: + Succ ess, c hanged param eters are n ow a ctiv e - if erro r T able 25 bel ow lists th[...]

AX3500 Motor Controll er User ’ s Manu al 149 Acc essing & Changing Configuration P arameter in Flash The se param eters are stor ed in the c ontroller ’ s Flash memory and are not intended to be c hanged at r untime . Importa nt Notice The abo ve para meters are st ored in the MCU ’ s confi guration fl ash. Th eir stor age is perm a- nen[...]

Serial (RS-232) Contr ols and Operation 15 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Thi s paramete rs selects the various open loop an d closed loo p operating modes as w ell as the f e edbac k m ethod. Amps Limit A ddre ss: ^02 Access: R ead/Write Eff ective: Afte r Reset or ^FF Thi s parameter c onfigures the con[...]

AX3500 Motor Controll er User ’ s Manu al 151 Acc essing & Changing Configuration P arameter in Flash Thi s param eter confi gures the ra te at whi c h the c ontroller i nternally c hanges the co mmand va lue from th e one it w as to the one just receiv ed. Input S witc hes Function A ddre ss: ^04 Access: R ead/Write Eff ective: Afte r Reset [...]

Serial (RS-232) Contr ols and Operation 15 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 RC Jo ystic k or Analog Deadband A ddre ss: ^06 Access: R ead/Write Eff ective: Afte r Reset or ^FF Thi s parame ter configur es the amou nt of jo ys tic k or potentiomet er motion ca n take plac e around th e center p osition witho[...]

AX3500 Motor Controll er User ’ s Manu al 153 Acc essing & Changing Configuration P arameter in Flash Thi s param eter config ures the com pensatio n cur ve when mo tors are s pinning in one direc - tion vs . the other . Default Encoder Time Base 1 and 2 A ddre ss: ^0B - Enco der 1 ^0C - Enco der 2 Access: R ead/Write Eff ective: Afte r Reset[...]

Serial (RS-232) Contr ols and Operation 15 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Default PID Gains A ddre ss: ^0F - Pr opor tional G ain ^1 0 - Integr al Gain ^1 1 - Der ivativ e Gain Access: R ead/Write Eff ective: Afte r Reset or ^FF The se param eters are t he Gains v alu es that ar e loaded af ter the contro[...]

AX3500 Motor Controll er User ’ s Manu al 155 Reading & Changing Operating P aram eter s at Runtime Gains v alue s are intege r number from 0 to 63. T his n umber is divided b y 8 inte rnal so that eac h incremen t equals 0.1 25. Reading & Ch anging Operating P arameter s at Runtime It is pos sible to c hange se veral o f the control ler [...]

Serial (RS-232) Contr ols and Operation 15 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt Notice: Do not wr it e in the locations mar ked as Read Only . Doing so m y cau se Contr oller malfunction . Operating Modes Registers A ddre ss: ^80 - Chann el 1 ^81 - Chann el 2 Access: R ead/Write Ef f ectiv e: Instan [...]

AX3500 Motor Controll er User ’ s Manu al 157 Reading & Changing Operating P aram eter s at Runtime A ctu al Gain v alue is the value co ntained in the register divi ded by 8. Changes take ef f ect at the contr oller ’ s nex t 1 6ms ite ration loo p. Af ter res et, these bits get initiali zed ac cording to the confi guration c ontained in F[...]

Serial (RS-232) Contr ols and Operation 15 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Control ler Identification Regist er A ddre ss: ^8A Access: Read Only Ef f ectiv e: Instan tly Thi s registe r may be used to q uer y the Co ntroller ’ s model an d some of its option al hard- ware conf igur atio ns. Current Amps [...]

AX3500 Motor Controll er User ’ s Manu al 159 RS232 Encoder Command S et RS232 Encoder Co mmand Set The Encoder m odule res ponds to a dedicated set of com mands and queries. The serial p ort set ti ng and basi c command fo rmat is identi cal to thi s for all other functions of the co ntroller as de scribed in “ Serial (RS-23 2) Controls and Op[...]

16 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 While res et tin g is a single s tep comma nd, set ti ng the count ers to a no n-zero v alu e requires two step s: 1 - load a 4 b yte buf f e r (32-bit) w ith the desire d va lue. 2- T ransf er the bu f f er ’ s content t o the coun ter(s). L oading the buf f er can be [...]

AX3500 Motor Controll er User ’ s Manu al 161 RS232 Encoder Command S et Read Distance Descrip tion: Thi s query will cause th e controll er to ret urn the d istance between the curre nt position and the v alue in the desti nation reg ister . T he v alues are s igned H exa decimal nu mbers r anging from -1 27 to +1 27 . The -1 27 valu e represen [...]

16 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 R eply: 0 n Where: n = switc h st atus The relation ship betwee n the value of n and the sw itc h stat us is sho wn in the table belo w . Extracti ng the stat us of a giv en sw itc h from this numbe r is easily acc omplish ed in sof t wa re usi ng mask ing . Note tha t th[...]

AX3500 Motor Controll er User ’ s Manu al 163 RS232 Encoder Command S et Exampl e: *84 Read value of parameter a t address he x 84 01 Controller r eplies, v alue i s 0 1 Modify par amet er Syn t a x: * mm n n R eply: + if c ommand w as ex ecut ed succ essfully - if erro r Where mm = p arameter addr ess nn = n ew para meter va lue Exampl es: *84 0[...]

16 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Importa nt W arning Do not alt er an y o ther ar ea locations, a s this ma y cause pr ogr am ex ecution f ailur e inside the encoder mod ule. Regist er Descri ption Encoder Hardw are ID code Address: *84 R eturn s a 4-bi t number i dentifying the enco der module hardw are[...]

AX3500 Motor Controll er User ’ s Manu al 165 Reg ister Descr ipt ion Speed or Distance 1 or 2 A ddre ss: *86 - Channel 1 *87 - Channel 2 The se two reg isters c ontain either the measure d speed o r the meas ured distance . Whether s peed or di stance inf ormati on is ret urned depends on the set tings contained in the Mode register de scribed a[...]

16 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 *96 *97 - Least Signific ant Byte A ddre ss: *98 - Most Significa nt Byte Destin ation 2 *99 *9A *9B - Least Sign ificant Byt e The se two 32 -bit (4-b ytes) re gisters a re used to store the d esired de stination when the controll er is used in positi on mode. T hese reg[...]

AX3500 Motor Controll er User ’ s Manu al 167 Counter Read Data Format RC P ulse Outputs A ctiv ation Address: *A5 to *AF The AX3500 has 8 pulse outp ut for command ing standard R C servos o r addition al control - lers. T he pul se width fo r ev er y c hannel can o nly be c hanged us ing simple RS2 32 com- mands. Re ading an d c ha nging the p u[...]

16 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 ahead of an y number strin g starting with a digit va lue lo w er than 8 (i.e. 0 to 7). T he table belo w sho ws e xamples of this sc heme as a pplied to v arious counter v alues . When rea ding the c ounter v alue into a microc omputer , the re ve rse opera tion must tak[...]

AX3500 Motor Controll er User ’ s Manu al 169 Automatic S witc hing fr om RS232 to RC Mode Automatic Switc hin g from RS232 to RC Mode In man y com puter contr olled app lications, it ma y be usef ul to allo w the c ontroller to switc h bac k to the R C mode. T his w ould typica lly allo w a user to t ak e o ver the c ontrol of a robotic ve hicle[...]

17 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Controlle r is on, Rad io is t urned Of f (or R adio On with R C c h 3 Of f) • Rel ay deactiv ates. RS 232 is no w co nnected to shared i nput. • String of Car riage R et urns no w received by controller . • Computer looks f or OK prom pt to detect that the R S232 m[...]

AX3500 Motor Controll er User ’ s Manu al 17 1 Decimal to He xadecimal Con v ersion T able logging purposes . Thi s cable ha s a 1 5 -pin male connector a nd 3 1 5 -pin conn ectors. T he male c onnector plug s into the controlle r . The a pplication cable th at wo uld normall y plug into the c ontroller may no w be plugged i nto one of t he adapt[...]

17 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 5 0 5 3 72 56 9 4 51 0 1 6 5 6 0 6 3 82 67 0 4 61 0 2 6 6 7 0 7 3 92 77 1 4 71 0 3 6 7 8 0 8 4 02 87 2 4 81 0 4 6 8 9 0 9 4 12 97 3 4 91 0 5 6 9 1 0 0A 42 2A 7 4 4A 1 06 6A 1 1 0B 43 2B 75 4B 1 07 6B 1 2 0C 44 2C 7 6 4C 1 08 6C 1 3 0D 45 2D 77 4D 1 09 6D 1 4 0E 46 2E 78 4[...]

AX3500 Motor Controll er User ’ s Manu al 17 3 Decimal to He xadecimal Con v ersion T able -1 21 1 35 87 -89 1 67 A7 -57 1 99 C7 -25 231 E7 -1 20 1 36 88 -88 1 68 A8 -56 200 C 8 -24 232 E8 -1 1 9 1 37 89 -87 1 69 A9 -55 20 1 C9 -23 233 E9 -1 18 1 38 8A -86 1 70 AA -54 202 C A - 22 234 EA -1 1 7 1 39 8B -85 1 71 AB -53 203 CB - 21 235 EB -1 1 6 1 [...]

17 4 AX3500 Moto r Controller User ’ s Man ual V ersio n 1 .9b. Ju ne 1, 2007[...]

AX3500 Motor Controll er User ’ s Manu al 17 5 SECTION 15 Conf iguring the Contr oller using the S witc hes The AX3500 Speed Controller can be pro grammed to ope rate in man y modes using a simpl e set-up proce dure. T wo bu t tons and a 7 -segmen t LED displ ay allo w the us er to e xamine and c hang e these set tings. Alterna tive ly , the cont[...]

Configuring the Controller using the Switc hes 176 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. J une 1, 2007 Entering Pr ogramming Mode P rogrammi ng mode is entere d by pressing a nd holdin g the Program but ton for 1 0 sec onds af ter reset ting the control ler . The c ontroller c an be reset b y po we ring it do wn an d up or b y [...]

AX3500 Motor Controll er User ’ s Manu al 17 7 Pr ogramming using built-in S witc hes and Display Importa nt W arning Be car eful not t o c onfuse the Set and Pr ogra m butt on when ent er ing the Pr ogr am- ming Mode . Pr essing an d holdin g the Set but to n alone f or 1 0 seconds af ter r eset will cause the c ontrolle r to ent er in sel f-tes[...]

Configuring the Controller using the Switc hes 17 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Restoring factor y defaults Should y ou, for an y rea son, require t o reset the AX3500 controller to its fa ctory defau lt va lue, pres s and hol d the P rogram a nd Set but ton together f or 1 0 secon ds whil e reset ti ng [...]

AX3500 Motor Controll er User ’ s Manu al 17 9 Pr ogrammable P arameters List This ta ble sho ws only the par amet ers that can b e prog ram med using the switc hes and displ ay . Other le ss comm only use d para meters e xist and are only ac cessib le and pr o- gramm abl e usin g the Co nfig urati on Uti lit y (pa ge 181) or t he RS23 2 comm and[...]

Configuring the Controller using the Switc hes 180 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 *The coas t fun ction is not im pleme nted in thi s revisio n of the sof twa re. The con troll er wil l only op erate in b rake mode. ** V alue s are i n hexade cimal numbe rs whe re the d ecima l values 1 0, 1 1 , 1 2... 1[...]

AX3500 Motor Controll er User ’ s Manu al 181 SECTION 16 Using the Roborun Conf iguration Utility A PC-base d Configurat ion Utility is av ailable, free of c harge, from R obot eq. T his pro- gram makes configuri ng and op erating the AX3500 muc h mo re int uitiv e b y using pull-do wn m enus, but tons an d sliders. T he uti lity can als o be use[...]

Using the Roborun Configuration Utility 182 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 • af ter the installatio n is complete, r un the program from y our Start Menu > Programs > R oboteq The controller do es not nee d to be conne cted to the PC to start the Utility . Connecting the Contr oller to th e PC Th[...]

AX3500 Motor Controll er User ’ s Manu al 183 Roborun Frame, T ab and Menu Descriptions Roborun F rame, T ab and Menu Descripti ons The Ro boru n screen contains the fou r main set of comma nds and in fo rmation fra mes des cribe d below: 1 - Progr am Revision Number Thi s is the revisio n and da te of the R obor un utili ty . It i s recomme nded[...]

Using the Roborun Configuration Utility 184 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 f eat uring the additiona l Analog Inputs 3 and 4 are auto matically identified as R ev . B in this area of t he screen . 3- P ar ameter Select ion and Setting and Spec ial Functi ons This i s th e prog ram ’ s main frame and in[...]

AX3500 Motor Controll er User ’ s Manu al 185 Loading, Changing Controller P arameter s Loading, Changing Contr oller P arameters The first set of tabs allo ws you to view a nd c han ge the controll er ’ s pa rame ters . These t abs are grou ped accord ing to the general t ype of parameters (Controls , P o wer Se t ting, an d R/C Set tings). Wh[...]

Using the Roborun Configuration Utility 186 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 Thi s pull do wn men u is used to c hoose w hether the con troller will o perate in Separate or Mixed mod e. For more i nformat ion o n thes e mode s, see “ Sel ecting the Motor Control Modes ” on pag e 42. 3- Input Comm and A[...]

AX3500 Motor Controll er User ’ s Manu al 187 Loading, Changing Controller P arameter s 2- Lef t/Rig ht Adjust Thi s slider will let you con figure the controller so that it ap pli es more pow er to the motors in one d irection th an in the other . See “ Lef t / Righ t T uning Adjustme nt ” on pa ge 4 9. 3- A cceler ation Set ting Thi s slide[...]

Using the Roborun Configuration Utility 188 AX350 0 Motor Con troller User ’ s Man ual V ersio n 1 .9b. June 1 , 2007 The se fields are enabl ed only if the R/C m ode is sel ected. T hese nu mber areas will let y ou read an d modify th e R/C pulse timing in forma tion used by t he controller . Ne w v alues can be entere d manual ly to create dif [...]

AX3500 Motor Controll er User ’ s Manu al 189 Encoder S et ting and T esting With this utili ty , the foll owing a ctions c an be acco mplishe d: • Set and pro gram the Enco der module ’ s parameters in EEPR OM • Activ ate th e motors in e ac h direc tion at v ariable speed • Vie w the m easured enc oder counts • Vie w the m easured enc[...]

Using the Roborun Configuration Utility 19 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 The Time B ase pa rameter is used to c ompute the speed me asured b y the mod ule. T he measure d speed is a relativ e num ber rangin g from 0 to +/-1 27 . The relations hip betw een this rela tive speed nu mber and th e actu al RPM[...]

AX3500 Motor Controll er User ’ s Manu al 19 1 Running the Motors F rom this screen, mov ing the cu rsor on an y of the 8 sliders will ca use the PC to send R C positio ning com mand to the c ontroller v ia the RS 232 port to its resp ective output. Running the Motor s The Robo run u tility will let y ou e x ercise and monitor the mo tors, sensor[...]

Using the Roborun Configuration Utility 19 2 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 1 - Run/Stop But t on Thi s but ton will cause th e PC to s end the r un comm ands to th e controller a nd will update the scre en with measure ments receiv ed from th e controll er . When the program is runni ng, the but ton ’ s [...]

AX3500 Motor Controll er User ’ s Manu al 19 3 Running the Motors case the p ow er le vel w ill be the o ne needed to keep the Amps w ithin the l imit. Note that the disp lay value is not si gned and thus does no t prov ide rotation di rection in forma tion. The Ana fields co ntain the analog input v alues that are m easured and reported b y the [...]

Using the Roborun Configuration Utility 19 4 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 three dig ital inputs prese nt on the contro ller . Blac k rep resents a “ 0 ” lev el. Gr een repre - sent s a “ 1 ” level. 7 - Data Logg ing and Timer A timer is prov ided to keep trac k of time while r unning the motors. A[...]

AX3500 Motor Controll er User ’ s Manu al 19 5 Running the Motors line of th e sa ve file contains the Header n ames. Eac h follo win g line co ntains a com plete set of pa rameters. The He ader name, o rder and pa rameter de finition is s hown i n T able 3 7: Connecting a Jo ystic k Exe rcising the motors can eas ily be do ne using a Jo ys tic k[...]

Using the Roborun Configuration Utility 19 6 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 A jo ystic k test program nam e “ Joyt e st ” is automatic ally in stalled in t he Start men u when installing the R obor un utili t y . This program may be used to further verify that the jo y stic k is prope rly installed in t[...]

AX3500 Motor Controll er User ’ s Manu al 19 7 Vie wing and Logging Data in Analog and R/C Modes ries. See “ RS2 32 Encode r Command Set ” on page 1 59 for the lis t of Encoder related comman ds and q ueries . 3- Kee p W atc hdog Aliv e If the con troller is in the R S232 mod e with the watc hdog enabled, then af ter 1 second of inactiv ity m[...]

Using the Roborun Configuration Utility 19 8 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Operating the AX350 0 ov er a Wired or Wir eless LAN The Ro boru n utility supp orts connec tion and o peration o f the AX3500 con troller ov er a Wired or Wireless TC P/IP netw ork. Thi s f eat ure mak es it ea sy to tele-o perate [...]

AX3500 Motor Controll er User ’ s Manu al 19 9 Updating the Controller ’ s Software Note tha t it is no t possible to use this c onfiguratio n to c h ange the con troller ’ s parameters or update the contro ller ’ s so f tware . Updating th e Contr oller ’ s S of tw are The AX35 00 ’ s opera ting sof t w are can b e easily u pgraded a f[...]

Using the Roborun Configuration Utility 20 0 AX3500 Motor Controll er User ’ s Manual V ersion 1 .9b. Ju ne 1, 2007 Notes: The Updating uti lity will automa tically dete ct whether the ne w sof tware is inten ded fo r the main or encoder ’ s MCU an d program o ne or the o ther acco rdingly . It is a g ood ide a to load the control ler ’ s par[...]

AX3500 Motor Controll er User ’ s Manu al 20 1 Creating Cust omized Object Files Creating a custom object file c an easily be done u sing the Ob jectmak er utility . T his short program is automa tically installed in the Start menu w hen installin g the R obor un uti lity . 1 - Use the R obor un utili ty to create an d sa ve t o disk a pro file w[...]

Using the Roborun Configuration Utility 202 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007[...]

AX3500 Motor Controll er User ’ s Manu al 203 Mec hanical D imensions SECTION 17 Mec hanical Specif ications Th is sect ion details the mec hanical c haracte ristics o f the A X3500 contr oller . Mec h anical Dimensions The AX3500 is del ivered a s an as sembled and tested Prin ted Circuit B oard. The b oard includ es conne ctors f or dire ct con[...]

Mec hanical Speci fications 204 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007 Mounting Co nsideratio ns The AX35 00 ’ s heats ink is loc ated at the bo t tom of the boar d. This requires th erefore that the board be mounte d with sp acers that a re at mini mum 0.6 ” ( 1 5mm). Thermal Considerations The AX3500 is equi[...]

AX3500 Motor Controll er User ’ s Manu al 205 At tac hing the C ontrolle r Directly t o a Chassis boar d against a vertica l surf ace as sho wn in the figu re belo w will ensure a bet ter na tura l con vectio n flo w and is, the refore , recommen ded. F or high current app lications, it is possi ble that the c ontroller ma y hea t up fa ster and [...]

Mec hanical Speci fications 206 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007 Note tha t the bac k of the PCB h as large co pper areas expos ed just u nder the po w er MOS area. It i s critic al that the interposer ei ther is ins ulated (e xample : anodiz ed alumin um) or a layer of th ermal condu cting - but el ectri ca[...]

AX3500 Motor Controll er User ’ s Manu al 207 Wire Dimensions Wire Dimensions The AX3500 uses F ast-on tabs fo r the po wer connecti ons to the bat teries a nd motors. The se connec tors are rated to suppo rt the controll er ’ s maximum specifi ed current. Mating connec tors are wide ly av ailabl e and use crim ping tec hniques to secure the el[...]

Mec hanical Speci fications 208 AX3500 Motor Controller Us er ’ s M anual V ersion 1 .9b. June 1 , 2007[...]