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RoboClaw Series Brushed DC Motor Controllers User Manual

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1. nnnm nnns 61 Advanced Motor Control siriani a 62 28 Set Velocity PID Constants M1 nn eee eee rre rr nn nn nanna 63 29 Set Velocity PID Constants M2 iii nu AR ena kazi 63 30 Read Raw Speed MI iaia e OC T n 63 31 Read Raw Speed Minato e eC Ee 64 32 Drive M1 With Signed Duty Cycle L cere ee eee eee memes nnns 64 33 Drive M2 With Signed Duty Cycle eset eee eee memes 64 34 Drive M1 M2 With Signed Duty Cwvcle nn memes 64 35 Drive M1 With Signed Speed iii 65 36 Drive M2 With Signed Speed eee eee atest teeta nr nn eens nnn 65 37 Drive M1 M2 With Signed Speed eee ee eee eee re rrn nn nn eens 65 38 Drive M1 With Signed Speed And Acceleration nn nena 65 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 39 Drive M2 With Signed Speed And Acceleration nn nn 66 40 Drive M1 M2 With Signed Speed And AcCceleration ii 66 41 Buffered M1 Drive With Signed Speed And Diestance teen ena 66 42 Buffered M2 Drive With Signed Speed And Diestance teen ena 67 44 Buffered M1 Drive With Signed Speed Accel And Distance cccceeeeeee enna 67 45 Buffered M2 Drive With Signed Speed Accel And Distance sess 68 46 Buffered Drive M1 M2 With Signed Speed Accel And Distance 68
2. Using independant motor combined forward backward commands roboclaw ForwardBackwardM address 96 start Motorl forward at half speed roboclaw ForwardBackwardM2 address 32 start Motor2 backward at half speed delay 2000 roboclaw ForwardBackwardM1 address 32 roboclaw ForwardBackwardM2 address 96 delay 2000 roboclaw ForwardM1 address 0 stop roboclaw BackwardM2 address 0 stop delay 2000 Using Mixed commands roboclaw ForwardMixed address 127 roboclaw TurnRightMixed address 0 full speed forward no turn D D delay 2000 roboclaw TurnRightMixed address 64 half speed turn right delay 2000 roboclaw TurnLeftMixed address 64 half speed turn left delav 2000 RoboClaw Series User Manual 43 MOTION HON E564 roboclaw TurnlLeftMixed address 0 roboclaw BackwardMixed address 127 delav 2000 roboclaw TurnRightMixed address 64 delav 2000 roboclaw TurnLeftMixed address 64 delay 2000 roboclaw ForwardMixed address 0 roboclaw TurnRightMixed address 64 delay 2000 roboclaw TurnLeftMixed address 64 delav 2000 roboclaw TurnRightMixed address 0 delav 2000 RoboClaw Series User Manual RoboClaw Series Brushed DC Motor Controllers MAS too tuzna half speed backward nalf speed turn right half speed turn left stop going backward half speed right turn half speed left turn stop turn full sto
3. EncMI address amp statusl amp validl roboclaw ReadEncM2 address amp status2 amp valid2 roboclaw ReadSpeeoMl address amp status3 amp valid3 roboclaw ReadSpeedM2 address amp status4 amp valid4 uint8 t statusl status2 sta bool validl valid2 valid3 valid4 int32 t encl roboclaw Readi imies te em sms it soe colli iimiE3Z ic sesso terminal print Encoder1 if validl terminal print encl DEC terminal prin terminal prin terminal prin CH DE E E n X else terminal print invalid terminal print if valid2 terminal prin terminal prin terminal prin enc2 DEC Encoder Status HEX N o D status2 HEX N EE E n EE E terminal prin else terminal print invalid terminal print Speedl if valid3 terminal print speed1 DEC terminal print U else terminal print invalid terminal print Speed2 if valid4 terminal print speed2 DEC terminal print U else terminal print invalid terminal println RoboClaw Series User Manual 5 o D SI o D SI o D RoboClaw Series Brushed DC Motor Controllers Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers void loop roboclaw SpeedMI
4. define MIN 1250 define MAX 1750 define STOP 1500 Servo myservol create servo object to control a RoboClaw channel Servo myservo2 create servo object to control a RoboClaw channel ine pos Of variable to store the servo position void setup myservol attach 5 attaches the RC signal on pin 5 to the servo object myservo2 attach 6 attaches the RC signal on pin 6 to the servo object void loop myservol writeMicroseconds STOP Stop myservo2 writeMicroseconds STOP Stop delav 2000 myservol writeMicroseconds MIN full forward delav 1000 mvservol writeMicroseconds STOP stop delav 2000 myservol writeMicroseconds MAX full reverse delav 1000 mvservol writeMicroseconds STOP Stop delav 2000 myservo2 writeMicroseconds MIN full turn left delav 1000 myservo2 writeMicroseconds STOP Stop delav 2000 myservo2 writeMicroseconds MAX full turn right delay 1000 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers ANALOG MODE RoboClaw Series User Manual 26 MOTION HON E5654 Analog Mode RoboClaw Series Brushed DC Motor Controllers Analog mode is used when controlling RoboClaw from a potentiometer or a filtered PWM signal In this mode S1 and S2 are set as analog inputs The voltage range is OV Full reverse 1V Stop and 2V Full forward Analog Mode With
5. Receive OxFF 59 Read Main Battery Voltage Settings Read the Main Battery Voltage Settings The voltage is calculated by dividing the value by 10 Send Address 59 Receive Min 2 bytes Max 2 bytes CRC 2 bytes 60 Read Logic Battery Voltage Settings Read the Logic Battery Voltage Settings The voltage is calculated by dividing the value by 10 Send Address 600 Receive Min 2 bytes Max 2 bytes CRC 2 bytes RoboClaw Series User Manual 48 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 74 Set S3 S4 and S5 Modes Set modes for S3 S4 and S5 Send Address 74 S3mode S4mode S5mode CRC 2 bytes Receive OxFF S3mode S4mode S5mode Default Disabled Disabled E Stop latching E Stop latching E Stop latching Voltage Clamp Voltage Clamp Voltage Clamp Mode Description Disabled pin is inactive Default Flip switch if in RC Analog mode or E Stop latching in Serial modes E Stop Latching causes the Roboclaw to shutdown until the unit is power cycled E Stop Holds the Roboclaw in shutdown until the E Stop signal is cleared Voltage Clamp Sets the signal pin as an output to drive an external voltage clamp circuit Home M1 amp M2 will trigger the specific motor to stop and the encoder count to reset to 0 75 Get S3 S4 amd S5 Modes Read mode settings for S3 S4 and S5 See command 74 for mode descriptions Send Address 75 Receive S3mode S4mode S5mode CRC 2 byte
6. Adjusted overcurrent temperature range calculation 2 Added button swap option E M 1 Added motor breaking on maximum overvoltage error 2 Added user overvoltage setting 3 Added user undervoltage setting 4 Added Sign Magnitude Drive option not availble on Roboclaw 2x60A v4 2 and older 5 Changed overcurrent error to overcurrent warning Overcurrent limit is controlled by temperature EM 1 Changed timer counter to volatile 4 1 Reversed RC motor channels to match signal input channels 2 Changed read back delay to use timer instead of isntruction cycle count delay RoboClaw Series User Manual 4 1 9 4 1 8 4 1 7 4 1 6 1 5 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Revision Description 1 fixed speed control using RC input eg velocity control using encoders with RC Analog inputs 2 Removes Set GetDither commands 3 Changed PWM Duty commands to use 15bit values 32768 ti 32767 for duty 100 ti 100 and changed duty cycle acceleration argument to use same scaling 1 USB detach re attach code changed 1 Changed battery voltages to signed calculation 2 Fixed battery cutoff settings 3 Fixed battery auto cell count detect 4 Config settings now must be saved using WriteNVM 5 USB interface is locked to packet serial mode now Standard serial is only available on TTL Serial pins 6 Fixed checksum calculation on re set encoder commands Added timeouts on USB while loops Changed cu
7. Buffered as Drive m17 m2 With Signed Speed Acceleration And Distance Buffered 50 Drive Mi m2 with Individual Signed Speed and Acceleration s1 Drive m1 7m2 With Individual Signed Speed Accel and Distance s2 Drive Mi With Signed Duty and Accel Encoders not required s3 Drive Ma with Signed Duty and Accel Encoders not required sa Drive m1 7 M2 with Signed Duty and Accel Encoders not required ss Read Motor 1 velocity PID Constans se Read Motor 2 velocity PID Constants lt e Set Position PID Constants formi SSS e2 Set Position PIO Constants for M2 e Read Motor 1 Position PIO constas_____ sa Read Motor 2 Position PID ege SSCS e5 Drive Mi with Speed Accel Deccel and Position 66 Drive Ma with Speed Accel Deccel and Position ss set default duty cycle acceleration ch 69 Set default duty cycle acceleration forma RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 28 Set Velocity PID Constants M1 Several motor and quadrature combinations can be used with RoboClaw In some cases the default PID values will need to be tuned for the systems being driven This gives greater flexibility in what motor and encoder combinations can be used The RoboClaw PID system consist of four constants starting with QPPS P Proportional I Integral and D Derivative The defaults values are QPPS 44000 P 0x00010000
8. Read Main Battery Voltage Level 47 25 Read Logic Battery Voltage Level rr nn rn nn nn nn nara 47 26 Set Minimum Logic Voltage Level 47 27 Set Maximum Logic Voltage Level rr rr rr nanna 47 48 Read Motor PWM values eee e ee eee eter eee eee eese neta eee seems ses essen 48 49 Read Motor Currents isis REESEN ee 48 57 Set Main Battery Voltages ER NERER ER NEREN ENKER ia in 48 58 Set Logic Battery Voltages amm died REENEN dio 48 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 59 Read Main Battery Voltage Settings nr rr nr 48 60 Read Logic Battery Voltage Settings eect eee ee eee teeter eee eee ee eens 48 74 Set S3 S4 and S5 Modes NENNEN 49 75 Get S3 S4 amd S5 Modes 0 nennen hehehe nnn nnn 49 76 Set DeadBand for RC Analog controls esses eene 49 77 Read DeadBand for RC Analog Controls eene 49 80 Restore Defaults ratori ea ARA aided MARIAE 49 82 Read Temperature ironian cyan ned aw entia ci RR d RO EU ve ater 50 83 Read Temperature 2 2i ee i Apio 50 90 Read Status Mc 50 91 Read Encoder Modi sis sp kai bii bad aka e eie pace PO EEN xa edu 50 92 Set Motor 1 Encoder Mode Lisci ER NR REENEN RER nnn n ben ess Ea RR RR dwa SE E kwa 51 93 Set Motor 2 Encoder Modes anciana ala da io 51 94 Write Settings to EEPROM seen nennen RENE rna a REENEN SEN ta fe
9. Turn left or right Valid data range is 0 127 A value of 0 full left 0 stop turn and 127 full right Send Address 13 Value CRC 2 bytes Receive OxFF RoboClaw Series User Manual 42 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Packet Serial Arduino Example The example will start the motor channels independently Then start turns with mix mode commands The program was written and tested with an Arduno Uno with P11 connected to S1 and P10 connected to S2 Set mode 7 and option 4 Additional example programs can be downloaded from lonmc com Set mode to 7 packet serial address 0x80 and option to 4 38400 Includes required to use Roboclaw library include BMSerial h include RoboClaw h Roboclaw Address define address 0x80 Setup communcaitions with roboclaw Use pins 10 and 11 with 10ms timeout RoboClaw roboclaw 10 11 10000 void setup Communciate with roboclaw at 38400bps roboclaw begin 38400 roboclaw ForwardMixed address 0 roboclaw TurnRightMixed address 0 voici Logs 4 Using independant motor Forward and Backward commands roboclaw ForwardM address 64 start Motorl forward at half speed roboclaw BackwardM2 address 64 start Motor2 backward at half speed delay 2000 roboclaw BackwardM1 address 64 roboclaw ForwardM2 address 64 delav 2000 roboclaw BackwardM1 address 0 roboclaw ForwardM2 address 0 delay 2000
10. int byte 0 byte lt nBytes byte crc crc unsigned int packet byte lt lt 8 for unsigned char bit 0 bit lt 8 bit if crc amp 0x8000 ere cre lt lt 1 0x1021 else crc cre lt lt 1 return crc CRC16 Checksum Calculation for Received data The CRC16 calculation can also be used to validate received data from the Roboclaw The CRC16 value should be calculated using the sent Address and Command byte as well as all the data received back from the Roboclaw except the two CRC16 bytes The value calculated will match the CRC16 sent by the Roboclaw if there are no errors in the data sent or received Easy to use Libraries Source code and Libraries are available on the Ion Motion Control website that already handle the complexities of using packet serial with the Roboclaw Libraries are available for Arduino C C on Windows NET or Linux Mono and Python Raspberry Pi Linux OSX etc RoboClaw Series User Manual 36 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Handling values larger than a byte Many Packet Serial commands require values larger than a byte can hold In order to send or receive those values they need to be broken up into 2 or more bytes There are two ways this can be done high byte first or low byte first Roboclaw expects the high byte first All command arguments and values are either single bytes words 2 bytes or longs 4 bytes
11. 0 thru 7 Send Address Command ByteValue CRC16 Receive OxFF O Drive Forward M1 Drive motor 1 forward Valid data range is 0 127 A value of 127 full speed forward 64 about half speed forward and 0 full stop Send Address 0 Value CRC 2 bytes Receive OxFF 1 Drive Backwards M1 Drive motor 1 backwards Valid data range is O 127 A value of 127 full speed backwards 64 about half speed backward and 0 full stop Send Address 1 Value CRC 2 bytes Receive OxFF 2 Set Minimum Main Voltage Note This command is included for backwards compatibility We recommend you use command 57 instead Sets main battery B B minimum voltage level If the battery voltages drops below the set voltage level RoboClaw will stop driving the motors The voltage is set in 2 volt increments A value of 0 sets the minimum value allowed which is 6V The valid data range is 0 140 6V 34V The formula for calculating the voltage is Desired Volts 6 x 5 Value Examples of valid values are 6V 0 8V 10 and 11V 25 Send Address 2 Value CRC 2 bytes Receive OxFF 3 Set Maximum Main Voltage Note This command is included for backwards compatibility We recommend you use command 57 instead Sets main battery B B maximum voltage level The valid data range is 30 175 6V 34V During regenerative breaking a back voltage is applied to charge the battery When using a power suppl
12. 2047 for the full 2v range The Status byte tracks counter underflow direction and overflow The byte value represents BitO Counter Underflow 1 Underflow Occurred Cleared After Reading Bit1 Direction 0 Forward 1 Backwards Bit2 Counter Overflow 1 Underflow Occurred Cleared After Reading Bit3 Reserved Bit4 Reserved Bit5 Reserved Bit6 Reserved Bit7 Reserved 18 Read Encoder Speed Mi Read M1 counter speed Returned value is in pulses per second RoboClaw keeps track of how many pulses received per second for both encoder channels Send Address 18 Receive Speed 4 bytes Status CRC 2 bytes Status indicates the direction 0 forward 1 backward 19 Read Encoder Speed M2 Read M2 counter speed Returned value is in pulses per second RoboClaw keeps track of how many pulses received per second for both encoder channels Send Address 19 Receive Speed 4 bytes Status CRC 2 bytes Status indicates the direction 0 forward 1 backward 20 Reset Quadrature Encoder Counters Will reset both quadrature decoder counters to zero This command applies to quadrature encoders only Send Address 20 CRC 2 bytes Receive OxFF RoboClaw Series User Manual 60 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 22 Set Quadrature Encoder 1 Value Set the value of the Encoder 1 register Useful when homing motor 1 This command applies to quadrature enco
13. 47 Read Buffer Length issir cicca er n rior e EENS NEE NEEN TRE et D I 50 Drive M1 M2 With Signed Speed And Individual Acceleration 69 51 Buffered Drive M1 M2 With Signed Speed Individual Accel And Distance 69 52 Drive M1 With Signed Duty And Acceleration nn 69 53 Drive M2 With Signed Duty And Acceleration eee eeeeeeeeeeeeeaeaas 70 54 Drive M1 M2 With Signed Duty And Acceleration este eeeeaeaees 70 55 Read Motor 1 Velocity PID and QPPS Settings i 70 56 Read Motor 2 Velocity PID and QPPS Settings sese 70 61 Set Motor 1 Position PID Constant menn 70 62 Set Motor 2 Position PID Constant nm emen 71 63 Read Motor 1 Position PID Constants nemen ene 71 64 Read Motor 2 Position PID Constants eene 71 65 Buffered Drive M1 with signed Speed Accel Deccel and Position 71 66 Buffered Drive M2 with signed Speed Accel Deccel and Position 71 67 Buffered Drive M1 amp M2 with signed Speed Accel Deccel and Position 72 68 Set M1 Default Duty Acceleration nemen emen 72 69 Set M2 Default Duty Acceleration rr nennen 72 Reading Quadrature Encoder Arduino Example ennnenennnnenana mnn 73 Speed Controlled by Quadrature Encoders Arduino Example i 75 RoboClaw Electrical Specification
14. 5VDC shown connected is only required if your MCU needs a power source This is the BEC feature of RoboClaw If the MCU has its own power source do not connect the 5VDC UART TX S1 Signal OUT 1 S2 Signal OUT 2 5VDC 5VDC GROUND GROUND M1B MCU Positive Negative Connect to S2 of next RoboClaw M2B Battery Connect to S1 of next RoboClaw RoboClaw RoboClaw Series User Manual 32 CONTROL Ey MOTION Standard Serial Arduino Example Roboclaw simpl include BMSerial mySerial 10 11 RoboClaw Series Brushed DC Motor Controllers The following example will start both channels in reverse stop forward stop turn left stop turn right stop The program was written and tested with a Arduino Uno and Pin 11 connected to S1 and pin 10 connected to S2 serial Set mode to 5 void setup mySerial begin 38400 voice loge d mySerial wri mySerial wri delay 2000 mySerial wri delay 1000 mySerial wri mySerial wri delay 2000 delay 1000 mySerial wri delay 2000 mySerial wri delay 1000 mySerial wri mySerial wri mySerial writ mySerial writ i VIS zeiten Ee b p te 127 7 te 64 te 127 ce 1 ES LZ 7 9 tes 127 7 delay 2000 mySerial wri delay 1000 ES 0 RoboClaw Series User Manual xampl Option to 4 38400 bps 33 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers
15. 85c the current limit is reduced on slope with a maximum temperature of 100c which will reduce the current to 0 amps RoboClaw Series User Manual a 78 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Warranty Ion Motion Control warranties its products against defects in material and workmanship for a period of 1 year If a defect is discovered IonMC will at our discretion repair replace or refund the purchase price of the product in question Contact us at support ionmc com No returns will be accepted without the proper authorization Copyrights and Trademarks Copyright 2014 2015 by Ion Motion Control Inc All rights reserved RoboClaw and USB RoboClaw are registered trademarks of Ion Motion Control Inc Other trademarks mentioned are registered trademarks of their respective holders Disclaimer lon Motion Control cannot be held responsible for any incidental or consequential damages resulting from use of products manufactured or sold by Ion Motion Control or its distributors No products from Ion Motion Control should be used in any medical devices and or medical situations No product should be used in a life support situation Contacts Email sales ionmc com Tech support support ionmc com Web http www ionmc com Discussion List A web based discussion board is maintained at http forums ionmc com Technical Support Technical support is available by sending an email to support ionmc com
16. DC Motor Controllers Speed Controlled by Quadrature Encoders Arduino Example The following example was written using an Arduino UNO using packet serial wiring and quadrature encoder wiring diagrams The example will command a 4wheel robot to move forward backward right turn and left turn slowly You can change the speed by adjusting the value of Speed and Speed2 variables Additional example programs can be downloaded from Ionmc com Set mode 7 packet serial address 0x80 and mode 4 38400 Includes required to use Roboclaw library include BMSerial h include RoboClaw h define SPEED 12000 define SPEED2 12000 Roboclaw Address define address 0x80 Nelocitv PID coefficients define Ko 1 0 define Ki 0 5 define Kd 0 25 define qops 44000 Definte terminal for display Use hardware serial pins 0 and 1 BMSerial terminal 0 1 Setup communcaitions with roboclaw Use pins 10 and 11 with 10ms timeout RoboClaw roboclaw 10 11 10000 long speed long speed2 void setup Open terminal and roboclaw serial ports terminal begin 57600 roboclaw begin 38400 speed SPEED speed2 SEEED2 Set PID Coefficients roboclaw SetM1VelocityPID address Kd Ko Ki qpps roboclaw SetM2VelocityPID address Kd Ko Ki qpps RoboClaw Series User Manual 75 MOTION CONTROL void displayspeed void tus3 status4
17. Drive M1 and M2 with a speed acceleration and distance value The sign indicates which direction the motor will run The acceleration and distance values are not signed This command is used to control both motors top speed total distanced traveled and at what incremental acceleration value to use until the top speed is reached Each motor channel M1 and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 46 Accel 4 Bytes SpeedM1 4 Bytes DistanceM1 4 Bytes SpeedM2 4 bytes DistanceM2 4 Bytes Buffer CRC 2 bytes Receive 0xFF The Buffer argument can be set to a 1 or 0 If a value of 0 is used the command will be buffered and executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed 47 Read Buffer Length Read both motor M1 and M2 buffer lengths This command can be used to determine how many commands are waiting to execute Send Address 47 Receive BufferM1 BufferM2 CRC 2 bytes The return values represent how many commands per buffer are waiting to be executed The maximum buffer size per motor is 64 comm
18. Mixing This mode is the same as Analog mode with the exception of how S1 and S2 control the attached motors When used with a differentially steered robot mixing mode allows S1 to control the speed forward and backward and S2 to control steering left and right Using Analog Mode with feedback for velocity position control Analog Mode can be used with encoders Velocity and or Position PID constants must be calibrated for proper operation Once calibrated values have been set and saved into Roboclaws eeprom encoder support using velocity or position PID control can be enabled Use IonMotion control software or PacketSerial commands to enable encoders for RC Analog modes see General Settings in IonMotion Analog Mode Options Option Function Description TTL Flip Switch Flip switch triggered by low signal TTL Flip and Exponential Enabled TTL FLip and MCU Enabled RC Flip Switch Enabled RC Flip and Exponential Enabled RC Flip and MCU Enabled RC Flip and Exponential and MCU Enabled TTL FLip and Exponential and MCU Enabled RoboClaw Series User Manual Softens the center control position This mode is ideal with tank style robots Making it easier to control from an RC radio Flip switch triggered by low signal Continues to execute last pulse received until new pulse received Disables Signal loss fail safe and auto calibration Flip switch triggered by low signal Enables both options Flip switch triggered
19. PACKET SERIAL RoboClaw Series User Manual 34 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Packet Serial Mode Packet serial is a buffered bidirectional serial mode More sophisticated instructions can be sent to RoboClaw The basic command structures consist of an address byte command byte data bytes and a CRC16 16bit checksum The amount of data each command will send or receive can vary Address Packet serial requires a unique address when used with TTL serial pins S1 and S2 With up to 8 addresses available you can have up to 8 RoboClaws bussed on the same RS232 port when properly wired There are 8 packet modes 7 to 14 Each mode has a unique address The address is selected by setting the desired packet mode using the MODE button NOTE When using packet serial commands via the USB connection the address byte can be any value from 0x80 to 0x87 since each USB connection is already unique Packet Modes Mode Description s Packet Serial Mode Address 0x81 129 SSS o Packet Serial Mode Address 82180 1g Packet Serial Mode Address 0183 131 O 11 Packet Serial Mode Address 0x64 182 12 Packet Serial Mode Address 0x85 133 O o 13 Packet Serial Mode Address XB 188 C 1a Packet Serial Mode Address 0x87 035 Packet Serial Baud Rate When in serial mode or packet serial mode the baud rate can be changed to one of four differ
20. encoder is increasing in value If it is not either reverse the motor wires or the encoder wires If you are using autotune for Position control you must first set the motors QPPS value Unlike Velocity autotune the QPPS value will not be automatically measured This is because most position control systems have a limited range of movement Once you have manually set the motors QPPS value eg the maximum speed the motor can run at you can continue with Position autotuning Then just click the autotune button for the motor you want to tune The autotune function will try to determine the best settings for the motor In the Velocity settings window it will autotune for velocity In the Position Settings window you have the option to tune a simple PD position controller a PID position controller or a cascaded Position Velocity controller PIV The cascaded tune will determine both the velocity and position values for the motor but still requires the QPPS be manually set for the motor before starting Autotune functions usually return reasonable values but in most cases you will still need to manually adjust them for optimum performance If the motor or encoder are wired incorrectly the autotune function can lock up and RoboClaw will become unresponsive Correcting the wiring problem and reset RoboClaw to continue RoboClaw Series User Manual 58 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Encoder Commands The following comman
21. ratings to provide a path across the switch contactor 4 Depending on the model of RoboClaw there is a minimum power requirement of at least 6V Under heavy loads if the logic battery and main battery are combined brownouts can happen This can cause erratic behavior from RoboClaw If this is the case a seperate logic battery should be used to power the logic Motor Selection When selecting RoboClaw for a motor several factors should be considered All brushed DC motors will have two amperage ratings which are maximum stall current and running current The most important rating is the stall current Choose a Roboclaw model that can support the stall current of the motor to insure you can drive the motor properly without damage to the Roboclaw Stall Current A motor at rest is in a stall condition This means during start up the motors stall current will be reached The loading of the motor will determine how long maximum stall current is required A motor that is required to start and stop or change directions rapidly but with light load will still require maximum stall current often Running Current The continuous current rating of a motor is the maximum current the motor can run at without overheating and eventually failing The average running current of the motor should not excede the continuous current rating of the motor Wire Lengths Wire lengths to the motors and from the battery should be kept as short as possible Longer wires wil
22. to communicate with RoboClaw The diagram below shows the main battery as the only power source Make sure the LB jumper is set correctly The 5VDC shown connected is only required if your MCU needs a power source This is the BEC feature of RoboClaw If the MCU has its own power source do not connect the 5VDC UART TX UART RX 5VDC GROUND MCU RoboClaw Series User Manual S1 Signal S2 Signal 5VDC GROUND M1B Positive Negative M2B RoboClaw Battery 38 MOTION HON vores Multi Unit Packet Serial Wiring RoboClaw Series Brushed DC Motor Controllers In packet serial mode up to eight Roboclaw units can be controlled from a single serial port The wiring diaghram below illustrates how this is done Each Roboclaw must have multi unit mode enabled and have a unique packet serial address set see General Settings in IonMotion Wire the Si and S2 pins directly to the MCU TX and RX pins Install a pullup resistor on the MCU RX pin UART TX UART RX 5VDC GROUND MCU RoboClaw Series User Manual S1 Signal S2 Signal 5VDC GROUND RoboClaw 1 S1 Signal S2 Signal 5VDC GROUND RoboClaw 2 S1 Signal S2 Signal 5VDC GROUND RoboClaw 3 39 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Commands 0 7 Compatibility Commands The following commands are the compatibility set of commands used with packet serial mode The command syntax is the same for commands
23. 0ma units To calculate divide value by 100 MinCurrent is always O Send Address 136 Receive MaxCurrent 2 bytes MinCurrent 2 bytes CRC 2 bytes 137 Read M2 Max Current Limit Read Motor 2 Maximum Current Limit Current value is in 10ma units To calculate divide value by 100 MinCurrent is always O Send Address 137 Receive MaxCurrent 2 bytes MinCurrent 2 bytes CRC 2 bytes 148 Set PWM Mode Set PWM Drive mode Locked Antiphase 0 or Sign Magnitude 1 Send Address 148 Mode CRC 2 bytes Receive OxFF 149 Read PWM Mode Read PWM Drive mode See Command 148 Send Address 149 Receive PWMMode CRC 2 bytes RoboClaw Series User Manual 53 MOTION HON 5 4 RoboClaw Series User Manual RoboClaw Series Brushed DC Motor Controllers ENCODERS 54 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Quadrature Encoder Wiring RoboClaw is capable of reading two quadrature encoders one for each motor channel The main RoboClaw header provides two 5VDC connections with dual A and B input signals for each encoder In a robot with two motor configurations one motor will spin clock wise CW while the other motor will spin counter clock wise CCW The A and B inputs for one of the encoders must be reversed as shown If both encoder are connected with leading edge pulse to channel A one will count up and the other down This will cause commands like Mix Drive Forward to not wor
24. 232 port PC or microcontroller Standard serial is a one way format RoboClaw only receives data Encoders are not supported with Standard Serial mode 4 Packet Serial Mode 7 through 14 In packet serial mode RoboClaw expects TTL level RS 232 serial data to control direction and speed of each motor Packet serial is typically used to control RoboClaw from a microcontroller or PC If using a PC a MAX232 or an equivilent level converter circuit must be used since RoboClaw only works with TTL level input In packet serial mode each RoboClaw is assigned a unique address There are 8 addresses available This means up to 8 RoboClaws can be on the same serial port Encoders are support in Packet Serial mode See Encoder section 5 USB Control USB can be connected in any mode When the Roboclaw is not in packet serial mode USB packet serial commands can be used to read status information and or set configuration settings however motor movement commands will not function When in packet serial mode if another device for example an Arduino is connected to the S1 and S2 pins and sending commands to the Roboclaw both those commands and USB packet serial commands will execute RoboClaw Series User Manual 15 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Configuring RoboClaw Modes The 3 buttons on RoboClaw are used to set the different configuration options The MODE button sets the interface method such as Serial or RC modes The S
25. 800 Termperature Warning 0x1000 Temperature2 Warning 0x2000 M1 Home 0x4000 M2 Home 0x8000 91 Read Encoder Mode Read the encoder mode for both motors Send Address 91 Receive EnclMode Enc2Mode CRC 2 bytes Encoder Mode bits Bit 7 Enable RC Analog Encoder support Bit 6 1 N A Bit 0 Quadrature 0 Absolute 1 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 92 Set Motor 1 Encoder Mode Set the Encoder Mode for motor 1 See command 91 Send Address 92 Mode CRC 2 bytes Receive OxFF 93 Set Motor 2 Encoder Mode Set the Encoder Mode for motor 2 See command 91 Send Address 93 Mode CRC 2 bytes Receive OxFF 94 Write Settings to EEPROM Writes all settings to non volatile memory Values will be loaded after each power up Send Address 94 Receive OxFF 95 Read Settings from EEPROM Read all settings from non volatile memory Send Address 95 Receive EnclMode Enc2Mode CRC 2 bytes RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 98 Set Standard Config Settings Set config bits for standard settings Send Address 98 Config 2 bytes CRC 2 bytes Receive OxFF Config Bit Masks RC Mode 0x0000 Analog Mode 0x0001 Simple Serial Mode 0x0002 Packet Serial Mode 0x0003 Battery Mode Off 0x0000 Battery Mode Auto 0x0004 Battery Mode 2 cell 0x0008 Battery Mode 3
26. All arguments and values are integers signed or unsigned No floating point values numbers with decimal places are used in Packet Serial commands To convert a 32bit value into 4 bytes you just need to shift the bits around unsigned char byte3 MyLongValue gt gt 24 High byte unsigned char byte2 MyLongValue gt gt 16 unsigned char bytel MyLongValue gt gt 8 unsigned char byte0 MyLongValue Low byte The same applies to 16bit values unsigned char bytel MyWordValue gt gt 8 High byte unsigned char byte0 MyWordValue Low byte The oposite can also be done Convert several bytes into a 16bit or 32bit value unsigned long MyLongValue byte3 lt lt 24 byte2 lt lt 16 bytel lt lt 8 byte0 unsigned int MyWordValue bytel lt lt 8 byte0 Packet Serial commands when a value must be broken into multiple bytes or combined from multple bytes it will be indicated either by 2 bytes or 4 bytes RoboClaw Series User Manual MOTION HON 564 Packet Serial Wiring RoboClaw Series Brushed DC Motor Controllers In packet serial mode the RoboClaw can transmit and receive serial data A microcontroller with a UART is recommended The UART will buffer the data received from RoboClaw When a request for data is made to RoboClaw the return data will have at least a ims delay after the command is received if the baudrate is set at or below 38400 This will allow slower processors and processors without UARTs
27. Buffered Drive M1 M2 With Signed Speed Individual Accel And Distance Drive M1 and M2 with a speed acceleration and distance value The sign indicates which direction the motor will run The acceleration and distance values are not signed This command is used to control both motors top speed total distanced traveled and at what incremental acceleration value to use until the top speed is reached Each motor channel M1 and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 51 AccelM1 4 Bytes SpeedM1 4 Bytes DistanceM1 4 Bytes AccelM2 4 Bytes SpeedM2 4 bytes DistanceM2 4 Bytes Buffer CRC 2 bytes Receive OxFF The Buffer argument can be set to a 1 or 0 If a value of 0 is used the command will be buffered and executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed 52 Drive M1 With Signed Duty And Acceleration Drive MI with a signed duty and acceleration value The sign indicates which direction the motor will run The acceleration values are not signed This command is used to drive the motor by PWM and usin
28. CONTROL Brushed DC Motor Controllers 42 Buffered M2 Drive With Signed Speed And Distance Drive M2 with a speed and distance value The sign indicates which direction the motor will run The distance value is not signed This command is buffered Each motor channel M1 and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 42 Speed 4 Bytes Distance 4 Bytes Buffer CRC 2 bytes Receive OxFF The Buffer argument can be set to a 1 or O If a value of 0 is used the command will be buffered and executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed 43 Buffered Drive M1 M2 With Signed Speed And Distance Drive M1 and M2 with a speed and distance value The sign indicates which direction the motor will run The distance value is not signed This command is buffered Each motor channel M1 and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new c
29. ET button is used to configure the options for the mode The LIPO button doubles as a save button and configuring the low battery voltage cut out function of RoboClaw To set the desired mode follow the steps below 1 Press and release the MODE button to enter mode setup The STAT2 LED will begin to blink out the current mode Each blink is a half second with a long pause at the end of the count Five blinks with a long pause equals mode 5 and so on 2 Press SET to increment to the next mode Press MODE to decrement to the previous mode 3 Press and release the LIPO button to save this mode to memory MODE SET LIPO Modes Mode Description RC mode RC mode with mixing Analog mode with mixing Standard Serial Standard Serial with slave pin ST Packet Serial Mode Address omi O OSS o Packet Serial Mode Ades Oma OSS Hg Packet Serial Mode Ades omi O O O O OSSSSSSSSS li Packet Serial Mode Adesso O O OOS 12 Packet Serial Mode Address 0x85 o __ Packet Serial Mode Address 0986 Ha Packet Serial Mode Ades Om RoboClaw Series User Manual 16 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Mode Options After the desired mode is set and saved press and release the SET button for options setup The STAT2 LED will begin to blink out the current option setting Press SET to increment to the next option Press MODE to decrement to the previous option Once the desired option is selected press a
30. MOTION CONTROL RoboClaw Series Brushed DC Motor Controllers RoboClaw 2x5A RoboClaw 2x15A RoboClaw 2x30A RoboClaw 2x45A RoboClaw 2x45A ST RoboClaw 2x60A Roboclaw 2x60HV User Manual Firmware 4 1 11 and Newer Hardware V3 V4 and V5 User Manual Revision 5 c 2014 2015 Ion Motion Control All Rights Reserved Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RoboClaw Revision History 6 Precat La o c DL 8 Deele dE 8 Stall C r eer tr ad 8 Running CUE LEE 8 Wire Be e EEN 8 RUN AWAY EE 9 POWECISOULCES EE 9 Optical Encode gU 9 Easy to use Libraries ca dace arcu core e deri ka QR RR EE Sede e RENE 9 Header Overview ER 10 Logic Battery UB TN eo 10 BEC Source LB MB viii cater kk ANE e edged dE dE ANEREN denied a aes 10 Encoder Power F EE 10 Encoder Inputs ENT ZENZ 1B ZIA 2B 2Ai eee n na rn nens 10 Control Inputs S1 52 83 7 S4 S5 edo ia ii n 11 Main Battery Screw Terminals isisi cree da ea serena ha d e eke ed aa dae daa Rx Ee 11 Motor Screw Terminals soriana is EELER a EE Ee 11 Basic Wiri EE 12 Status and Error LED Sa ue gegruewen ke aba dE Eege 13 Error and Warning States usina sag ened NEE cae SEENEN A DEM RE RRE E SEENEN ER 13 Firmware Update LED State eee cae a a e je n 14 Automatic Battery Detection on Gtartup seen eee nennen 14 RODOCIAW MOGES qe d bia Ree 15 Configuring RoboClaw Modes ex SEENEN KE SENEE cease iwa
31. OE EEN 35 ASS UEM 35 Packet MOS rm 35 Packet Serial Baud Rate stee n bre oli 35 Packet MET 36 Packet Acknowledgement iaia 36 CRC16 Checksum Calculation esses senem 36 CRC16 Checksum Calculation for Received data 36 Easy to se BEE 36 Handling values larger than a byte nn rr ar nn nn rr ran mnn 37 Packet SerialWirind ilaele iaia 38 Multi Unit Packet Serial Wiring sess eee eee ee rnnnnnnnnnz eae 39 Commands 0 7 Compatibility Commande 40 O Drive Forwatrd M iicet iiit a ki a 40 t Drive Backwards ML isa is dip ene a iii 40 2 Set Minimum Main Voltage EEN EEE EE EENEEEEENEN EENS kai NN SEKR EE RER RENE said ik NENNEN ida 40 3 Set Maximum Main Voltage ENNEN ENRENEEE NENNEN NNN EN NENNEN nn 40 4 Drive Forwatd M2 rx ote ls 41 5 Drive Backwards M2 iii cave ile enhn tent a UT SEENEN ENNEN AERE a 41 6 Drive MI BIO bii i i a DR Ta Dt a 41 7 Drive M2AZBIO ee EE OR iii ara 41 Commands 8 13 Mixed Mode Compatibility Commandes 42 8 Drive FO opm ETE 42 9 Drive Backward Sii a saz ee aa a o b jj a e DUE E 42 10 Eis tight EE 42 tis TUNA NEE 42 12 Drive Forward or Backward 7 BI 42 13 Turn Left or Right 7 Bit isis nc eg gedu age NN Pre ANERE needa RER iii e 42 Packet Serial Arduino Example cece ee eee ee eee ern nanna eens teense eset ee nanna nn ni 43 Version Status and Settings Commande 46 21 Read Firmware Versioni irreale 47 24
32. a 0x00008000 0x00004000 QPPS is the speed of the encoder when the motor is at 100 power P I D are the default values used after a reset Command syntax Send Address 28 D 4 bytes P 4 bytes I 4 bytes QPPS 4 byte CRC 2 bytes Receive OxFF 29 Set Velocity PID Constants M2 Several motor and quadrature combinations can be used with RoboClaw In some cases the default PID values will need to be tuned for the systems being driven This gives greater flexibility in what motor and encoder combinations can be used The RoboClaw PID system consist of four constants starting with QPPS P Proportional I Integral and D Derivative The defaults values are QPPS 44000 P 0x00010000 y 0x00008000 0x00004000 QPPS is the speed of the encoder when the motor is at 100 power P I D are the default values used after a reset Command syntax Send Address 29 D 4 bytes P 4 bytes I 4 bytes QPPS 4 byte CRC 2 bytes Receive OxFF 30 Read Raw Speed M1 Read the pulses counted in that last 300th of a second This is an unfiltered version of command 18 Command 30 can be used to make a independent PID routine Value returned is in encoder counts per second Send Address 30 Receive Speed 4 bytes Status CRC 2 bytes The Status byte is direction 0 forward 1 backward RoboClaw Series User Manual 63 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 31 Read Raw Speed M2 Read th
33. address speed roboclaw SpeedM2 address speed for uint8 t i 0 i lt 100 1 displavspeed delay 10 roboclaw SpeedMI address speeg roboclaw SpeedM2 address speed for uint8 t i 0 i lt 100 1 displayspeed delay 10 roboclaw SpeecMi address 0 roboclaw SpeedM2 address 0 delay 2000 roboclaw SpeedMl address speed roboclaw SpeedM2 address speed2 for uint8 t i 0 i lt 100 1 displayspeed delay 10 roboclaw SpeedMl address speed2 roboclaw SpeedM2 address speed for uint8 t i 0 i lt 100 1 displayspeed delay 10 roboclaw SpeedMl address 0 roboclaw SpeedM2 address 0 delay 2000 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RoboClaw Electrical Specifications Characteristic ra Rating Min Ma CC Ems vc s id mio we s o B mas we e o B Emo voce o B amp Ems mv vc hos lo Im oo fo Maximum External Current Draw BEC Motor Current Per Channel ER ooo o ES e ar m A E p moma a we p b ebe Analog Voltage Rane Ja me o ee We O E Note 1 Peak current is automatically reduced to the typical current limit as temperature approaches 85C Note 2 Current is limited by maximum temperature Starting at
34. ally detected as a virtual comport and an appropriate driver will be automatically loaded Unlike a real comport the USB CDC Virtual Comport does not need a baud rate to be set correctly It will always communicate at the fastest speed the master and slave device can reach This will typically be around 1mb s RoboClaw Series User Manual MOTION ON 5 64 RoboClaw Series User Manual RoboClaw Series Brushed DC Motor Controllers RC MODE 21 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RC Mode RC mode is typically used when controlling RoboClaw from a hobby RC radio This mode can also be used to simplify driving RoboClaw from a microcontroller using servo pulses In this mode S1 controls the direction and speed of motor 1 and S2 controls the direction and speed of motor 2 RC Mode With Mixing This mode is the same as RC mode with the exception of how S1 and S2 controls the attached motors When used with a differentially steered robot mixing mode allows S1 to control the speed forward and backward and S2 to control steering left and right Using RC Mode with feedback for velocity position control RC Mode can be used with encoders Velocity and or Position PID constants must be calibrated for proper operation first Once calibrated values have been set and saved into Roboclaws eeprom memory encoder support using velocity or position PID control can be enabled Use IonMotion control software or Packet Seria
35. andard serial mode is one way serial data RoboClaw can receive only A standard 8N1 format is used Which is 8 bits no parity bits and 1 stop bit If you are using a microcontroller you can interface directly to RoboClaw If you are using a PC a level shifting circuit eg Max232 is required The baud rate can be changed using the SET button once a serial mode has been selected Standard Serial communications has no error correction It is recommended to use Packet Serial mode instead for more reliable communications Serial Mode Baud Rates Option Description EA 2 9600 EA fa E s San s f 19 s sso Standard Serial Command Syntax The RoboClaw standard serial is setup to control both motors with one byte sized command character Since a byte can be any value from 0 to 255 or 128 to 127 the control of each motor is split 1 to 127 controls channel 1 and 128 to 255 or 1 to 127 controls channel 2 Command value 0 will stop both channels Any other values will control speed and direction of the specific channel Character Function OO Shuts Down Channel 1 and 2 A Channelt Full Reverse pe Channel 1 Stop 127 EECHER EC ass chane2 Fulfommrd RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Standard Serial Wiring Example In standard serial mode the RoboClaw can only receive serial data The below wiring diagram illustrates a basic setup of Rob
36. ands 0x3F A return value of 0x80 128 indicates the buffer is empty A return value of 0 indiciates the last command sent is executing A value of 0x80 indicates the last command buffered has finished RoboClaw Series User Manual 68 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 50 Drive Mi M2 With Signed Speed And Individual Acceleration Drive M1 and M2 in the same command using one value for acceleration and two signed speed values for each motor The sign indicates which direction the motor will run The acceleration value is not signed The motors are sync during acceleration This command is used to drive the motor by quad pulses per second and using an acceleration value for ramping Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate incrementally until the rate defined is reached Send Address 50 AccelM1 4 Bytes SpeedMl 4 Bytes AccelM2 4 Bytes SpeedM2 4 Bytes CRC 2 bytes Receive OxFF The acceleration is measured in speed increase per second An acceleration value of 12 000 QPPS with a speed of 12 000 QPPS would accelerate a motor from 0 to 12 000 QPPS in 1 second Another example would be an acceleration value of 24 000 QPPS and a speed value of 12 000 QPPS would accelerate the motor to 12 000 QPPS in 0 5 seconds 51
37. avy load A maximum voltage set just above the power supply voltage 2 to 3v above will help protect the power supply and RoboClaw from regenerative voltage spikes if an external voltage clamp circuit is not being used RoboClaw Series User Manual MOTION HON 5 4 RoboClaw Series User Manual RoboClaw Series Brushed DC Motor Controllers USB CONTROL 19 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RoboClaw and USB Power The USB RoboClaw is self powered This means it receives no power from the USB cable The USB RoboClaw must be externally powered to function RoboClaw USB Connection The RoboClaw can have a USB cable connect at any time The RoboClaw will automatically detect it has been connected to a powered USB master and will enable USB communications USB can be connected in any mode When the Roboclaw is not in packet serial mode USB packet serial commands can be used to read status information and set configuration settings however motor movement commands will not function When in packet serial mode if another device such as an Arduino is connected to S1 and S2 pins and sending commands to the RoboClaw both those commands and USB packet serial commands will execute USB Comport and Baudrate The RoboClaw will be detected as a CDC Virtual Comport When connected to a Windows PC a driver must be installed The driver is available for download from our website On Linux or OSX the RoboClaw will be automatic
38. aws minimum and maximum voltage levels can be set to prevent some of these voltage spikes however this will cause the motors to brake when slowing down too quickly in an attempt to reduce the over voltage spikes This will also limit power output when accelerating motors or when the load changes to prevent undervoltage condition Optical Encoders RoboClaw features dual channel quadrature absolute decoding When wiring encoders make sure the direction of spin is correct to the motor direction Incorrect encoder connections can cause a run away state Refer to the encoder section of this user manual for proper setup Easy to use Libraries Source code and Libraries are available on the Ion Motion Control website Libraries are available for Arduino C C on Windows NET or Linux Mono and Python Raspberry Pi Linux OSX etc RoboClaw Series User Manual 9 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Header Overview They same header layout is shared for each of the RoboClaw models covered in this user manual The main control I O are arranged for easy connectivity to control devices such as RC controllers The headers are also arranged to provide easy access to ground and power for supplying power to external controllers Pin Headers Screw Terminals Screw Terminal Encoder y w gt N w N gt Logic Battery LB IN The logic side of RoboClaw can be powered from a secondary battery wired to LB IN The p
39. ax Send Address CMD DutyM1 2 bytes AccelM1 4 Bytes DutyM2 2 bytes AccelM1 4 bytes CRC 2 bytes Receive OxFF The duty value is signed and the range is 32768 to 32767 eg 100 duty The accel value range is 0 to 655359 eg maximum acceleration rate is 100 to 100 in 100ms 55 Read Motor 1 Velocity PID and QPPS Settings Read the PID and QPPS Settings Send Address 55 Receive P 4 bytes I 4 bytes D 4 bytes QPPS 4 byte CRC 2 bytes 56 Read Motor 2 Velocity PID and QPPS Settings Read the PID and QPPS Settings Send Address 56 Receive P 4 bytes I 4 bytes D 4 bytes OPPS 4 byte CRC 2 bytes 61 Set Motor 1 Position PID Constants The RoboClaw Position PID system consist of seven constants starting with P Proportional I Integral and D Derivative MaxI Maximum Integral windup Deadzone in encoder counts MinPos Minimum Position and MaxPos Maximum Position The defaults values are all zero Send Address 61 D 4 bytes P 4 bytes I 4 bytes MaxI 4 bytes Deadzone 4 bytes MinPos 4 bytes MaxPos 4 bytes CRC 2 bytes Receive OxFF Position constants are used only with the Position commands 65 66 and 67 or when encoders are enabled in RC Analog modes RoboClaw Series User Manual 70 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 62 Set Motor 2 Position PID Constants The RoboClaw Position PID system consist of seven constants starting wit
40. by low signal Same as mode 1 with flip switch triggered by RC signal Same as mode 2 with flip switch triggered by RC signal Same as mode 3 with flip switch triggered by RC signal Same as mode 4 with flip switch triggered by RC signal 27 MOTION HON kuri Analog Wiring Example RoboClaw Series Brushed DC Motor Controllers RoboClaw uses a high speed 12 bit analog converter Its range is 0 to 2V The analog pins are protected and 5V tolerant The potentiometer range will be limited if 5V is utilized as the reference voltage A simple resistor divider circuit can be used to reduce the on board 5V to 2V for use with a potentiometer POT See the below schematic The POT acts as one half of the resistor divider If using a 5k potentiometer R1 7 5k If using a 10k potentiometer R1 15k and if using a 20k potentiometer R1 30k Set mode 3 with option 1 Center the potentiometers before applying power The S1 potentiometer will control the motor 1 direction and speed The S2 potentiometer will control the motor 2 direction and speed RoboClaw Series User Manual GROUND S1 Signal 5VDC M1B Positive Negative M2B RoboClaw Battery 28 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers STANDARD SERIAL RoboClaw Series User Manual 29 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Standard Serial Mode In this mode S1 accepts TTL level byte commands St
41. by opening a support ticket on the Ion Motion Control website or by calling 800 535 8161 during normal operating hours All email will be answered within 48 hours RoboClaw Series User Manual 79
42. ccel and Position Move M2 position from the current position to the specified new position and hold the new position Accel sets the acceleration value and deccel the decceleration value QSpeed sets the speed in quadrature pulses the motor will run at after acceleration and before decceleration Send Address 66 Accel 4 bytes Speed 4 Bytes Deccel 4 bytes Position 4 Bytes Buffer CRC 2 bytes Receive OxFF RoboClaw Series User Manual 71 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 67 Buffered Drive M1 amp M2 with signed Speed Accel Deccel and Position Move Mi amp M2 positions from their current positions to the specified new positions and hold the new positions Accel sets the acceleration value and deccel the decceleration value QSpeed sets the speed in quadrature pulses the motor will run at after acceleration and before decceleration 67 AccelM1 4 bytes SpeedM1 4 Bytes DeccelM1 4 bytes Send Address SpeedM2 4 Bytes DeccelM2 4 bytes PositionMl 4 Bytes AccelM2 4 bytes PositionM2 4 Bytes Buffer CRC 2 bytes Receive OxFF 68 Set M1 Default Duty Acceleration Set the default acceleration for M1 when using duty cycle commands Cmds 32 33 and 34 or when using Standard Serial RC and Analog PWM modes Send Address 68 Accel 4 bytes CRC 2 bytes Receive OxFF 69 Set M2 Default Duty Acceleration Set the default acceleration for M2 when using d
43. cell 0x000C Battery Mode 4 cell 0x0010 Battery Mode 5 cell 0x0014 Battery Mode 6 cell 0x0018 Battery Mode 7 cell 0x001C Mixing 0x0020 Exponential 0x0040 MCU 0x0080 BaudRate 2400 0x0000 BaudRate 9600 0x0020 BaudRate 19200 0x0040 BaudRate 38400 0x0060 BaudRate 57600 0x0080 BaudRate 115200 0x00A0 BaudRate 230400 0x00CO BaudRate 460800 OxOOEO FlipSwitch 0x0100 Packet Address 0x80 0x0000 Packet Address 0x81 0x0100 Packet Address 0x82 0x0200 Packet Address 0x83 0x0300 Packet Address 0x84 0x0400 Packet Address 0x85 0x0500 Packet Address 0x86 0x0600 Packet Address 0x87 0x0700 Slave Mode 0x0800 Swap Encoders 0x2000 Swap Buttons 0x4000 Multi Unit Mode 0x8000 99 Read Standard Config Settings Read config bits for standard settings See Command 98 Send Address 99 Receive Config 2 bytes CRC 2 bytes RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 134 Set Mi Max Current Limit Set Motor 1 Maximum Current Limit Current value is in 10ma units To calculate multiply current limit by 100 Send Address 134 MaxCurrent 2 bytes 0 0 CRC 2 bytes J Receive OxFF 135 Set M2 Max Current Limit Set Motor 2 Maximum Current Limit Current value is in 10ma units To calculate multiply current limit by 100 Send Address 135 MaxCurrent 2 bytes 0 0 CRC 2 bytes Receive OxFF 136 Read M1 Max Current Limit Read Motor 1 Maximum Current Limit Current value is in 1
44. ction When in packet serial mode if another device such as an Arduino is connected to S1 and S2 pins and sending commands to the RoboClaw both those commands and USB packet serial commands will execute 1 RC Mode 1 amp 2 With RC mode RoboClaw can be controlled from any hobby RC radio system RC input mode also allows low powered microcontrollers such as a Basic Stamp to control RoboClaw RoboClaw expects servo pulse inputs to control the direction and speed Very similar to how a regular servo is controlled RC mode can use encoders if properly setup See Encoder section 2 Analog Mode 3 amp 4 Analog mode uses an analog signal from OV to 2V to control the speed and direction of each motor RoboClaw can be controlled using a potentiometer or filtered PWM from a microcontroller Analog mode is ideal for interfacing RoboClaw with joystick positioning systems or other non microcontroller interfacing hardware Analog mode can use encoders if properly setup See Encoder section 3 Standard Serial Mode 5 amp 6 In standard serial mode RoboClaw expects TTL level RS 232 serial data to control direction and speed of each motor Standard serial is typically used to control RoboClaw from a microcontroller or PC If using a PC a MAX232 or an equivilent level converter circuit must be used since RoboClaw only works with TTL level inputs Standard serial includes a slave select mode which allows multiple RoboClaws to be controlled from a signal RS
45. d Sets logic input LB LB maximum voltage level The valid data range is 30 175 6V 34V RoboClaw will shutdown with an error if the voltage is above this level The formula for calculating the voltage is Desired Volts x 5 12 Value Examples of valid values are 12V 62 16V 82 and 24V 123 Send Address 27 Value CRC 2 bytes Receive OxFF RoboClaw Series User Manual 47 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 48 Read Motor PWM values Read the current PWM output values for the motor channels The values returned are 32767 The duty cycle percent is calculated by dividing the Value by 327 67 Send Address 48 Receive M1 PWM 2 bytes M2 PWM 2 bytes CRC 2 bytes 49 Read Motor Currents Read the current draw from each motor in 10ma increments The amps value is calculated by dividing the value by 100 Send Address 49 Receive M1 Current 2 bytes M2 Currrent 2 bytes CRC 2 bytes 57 Set Main Battery Voltages Set the Main Battery Voltage cutoffs Min and Max Min and Max voltages are in 10th of a volt increments Multiply the voltage to set by 10 Send Address 57 Min 2 bytes Max 2bytes CRC 2 bytes Receive OxFF 58 Set Logic Battery Voltages Set the Logic Battery Voltages cutoffs Min and Max Min and Max voltages are in 10th of a volt increments Multiply the voltage to set by 10 Send Address 58 Min 2 bytes Max 2bytes CRC 2 bytes
46. d Address 21 Receive RoboClaw 10 2A v4 1 11 10 0 CRC 2 bytes The command will return up to 48 bytes The return string includes the product name and firmware version The return string is terminated with a line feed 10 and null 0 character 24 Read Main Battery Voltage Level Read the main battery voltage level connected to B and B terminals The voltage is returned in 10ths of a volt eg 300 30v Send Address 24 Receive Value 2 bytes CRC 2 bytes 25 Read Logic Battery Voltage Level Read a logic battery voltage level connected to LB and LB terminals The voltage is returned in 10ths of a volt eg 50 5v Send Address 25 Receive Value Bytel Value Byte0 CRC 2 bytes 26 Set Minimum Logic Voltage Level Note This command is included for backwards compatibility We recommend you use command 58 instead Sets logic input LB LB minimum voltage level RoboClaw will shut down with an error if the voltage is below this level The voltage is set in 2 volt increments A value of 0 sets the minimum value allowed which is 6V The valid data range is 0 140 6V 34V The formula for calculating the voltage is Desired Volts 6 x 5 Value Examples of valid values are 6V 0 8V 10 and 11V 25 Send Address 26 Value CRC 2 bytes Receive OxFF 27 Set Maximum Logic Voltage Level Note This command is included for backwards compatibility We recommend you use command 58 instea
47. d executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed RoboClaw Series User Manual 67 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 45 Buffered M2 Drive With Signed Speed Accel And Distance Drive M2 with a speed acceleration and distance value The sign indicates which direction the motor will run The acceleration and distance values are not signed This command is used to control the motors top speed total distanced traveled and at what incremental acceleration value to use until the top speed is reached Each motor channel Mi and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 45 Accel 4 bytes Speed 4 Bytes Distance 4 Bytes Buffer CRC 2 bytes Receive OxFF The Buffer argument can be set to a 1 or O If a value of 0 is used the command will be buffered and executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed 46 Buffered Drive M1 M2 With Signed Speed Accel And Distance
48. de rea 51 95 Read Settings from EEPROM pre iti nan ea ea RR REA REESE EAR ga 51 98 Set Standard Config Gettinge eene emen 52 99 Read Standard Config Settings REENEN REENEN ENNEN ENER NENNEN nuns usan n nnn 52 134 Set M1 Max Current Dm age iens reme nnn REES RENE NEE rn ndn marta ENNEN nia 53 135 Set M2 Max Current DIE eerie eese atra da URS 53 136 Read M1 Max Current Limit iii 53 137 Read M2 Max Current Limit rane E AE Ge 53 148 Set PWM Mode NENNEN sees sas see nnn 53 149 Read PWM Mode d e i data a dd a REA ded 53 Quadrature Encoder Wiring eee ER NEEN ENER NENNEN ENNEN ENNER NENNEN ENER a nn na 55 Absolute Encoder Wiring RRENER NEEN KEEN NENNEN AR sunu hanh NENNEN ENER ER AR NENNEN 56 Encoder Motor Calibration for Velocity Position Control 56 Velocity Manual Calibration Procedure Li 57 Position Manual Calibration Procedure 0 57 Auto TUNING ni iui ia 58 Encoder Commands mencion ia dai 59 16 Read Encoder Count Value MI 59 17 Read Quadrature Encoder Count Value Mi 60 18 Read Encoder Speed MI ENNER REENEN KENNEN NENNEN NENNEN ENEE NENNEN REN RA NERA 60 19 Read Encoder Speed M2 ssenennnanzintunnzanz sensa beh hh han NENNEN RENE SEN ENER NN NENNEN 60 20 Reset Quadrature Encoder Counters ii 60 22 Set Quadrature Encoder 1 Value Kana KE EEA KEE NEE KEE nnns 61 23 Set Quadrature Encoder 2 Value
49. ders only Send Address 22 Value 4 bytes CRC 2 bytes Receive OxFF 23 Set Quadrature Encoder 2 Value Set the value of the Encoder 2 register Useful when homing motor 2 This command applies to quadrature encoders only Send Address 23 Value 4 bytes CRC 2 bytes Receive OxFF RoboClaw Series User Manual 61 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Advanced Motor Control The following commands are used to control motor speeds acceleration distance and position using encoders Command Description jag Set Velocity PID Constants for Mt 29 Set Velocity PID Constants for E 30 Read Current Mi Raw Speed 31 Read Current m2 Raw Speed 32 rive Mi with Signed Duty Cyde Encodersmorrequred 33 Drive m2 with Signed Duty Cycle Encoders not required 3a Drive m1 m2 with Signed Duty Cycle Encoders not required 35s prvem with Signed Speed 3s rive Ma with Signed Speed SSCS 3s rive Mi With Signed Speed And Acceleration 39 Drive Ma with Signed Speed And Acceleration ao Drive Mi m2 with Signed Speed And Acceleration a1 brveMi With Signed Speed And Distance Buffered a2 Drive Ma with Signed Speed And Distance Buffered a3 Drive M1 m2 With Signed Speed And Distance Buffered aa Drive Mi With Signed Speed Acceleration and Distance Buffered as Drive Ma With Signed Speed Acceleration and Distance
50. ds are used with the encoder quadrature and absolute hardware Command Description Read Encoder Count Value for M1 Read Encoder Count Value for M2 Read M1 Speed in Encoder Counts Per Second Set Encoder 1 Register Quadrature only Set Encoder 2 Register Quadrature only 19 Read M2 Speed in Encoder Counts Per Second l20 Resets Encoder Registers for M1 and M2 Quadrature only 16 Read Encoder Count Value M1 Read M1 encoder count position Send Address 16 Receive Encl 4 bytes Status CRC 2 bytes Quadrature encoders have a range of 0 to 4 294 967 295 Absolute encoder values are converted from an analog voltage into a value from 0 to 2047 for the full 2v range The status byte tracks counter underflow direction and overflow The byte value represents BitO Counter Underflow 12 Underflow Occurred Clear After Reading Bit1 Direction 0 Forward 1 Backwards Bit2 Counter Overflow 1 2 Underflow Occurred Clear After Reading Bit3 Reserved Bit4 Reserved Bit5 Reserved Bit6 Reserved Bit7 Reserved RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 17 Read Quadrature Encoder Count Value M2 Read M2 encoder count position Send Address 17 Receive EncCnt 4 bytes Status CRC 2 bytes Quadrature encoders have a range of 0 to 4 294 967 295 Absolute encoder values are converted from an analog voltage into a value from 0 to
51. e pulses counted in that last 300th of a second This is an unfiltered version of command 19 Command 31 can be used to make a independent PID routine Value returned is in encoder counts per second Send Address 31 Receive Speed 4 bytes Status CRC 2 bytes The Status byte is direction 0 forward 1 backward 32 Drive M1 With Signed Duty Cycle Drive M1 using a duty cycle value The duty cycle is used to control the speed of the motor without a quadrature encoder Send Address 32 Duty 2 Bytes CRC 2 bytes Receive OxFF The duty value is signed and the range is 32767 to 32767 eg 100 duty 33 Drive M2 With Signed Duty Cycle Drive M2 using a duty cycle value The duty cycle is used to control the speed of the motor without a quadrature encoder The command syntax Send Address 33 Duty 2 Bytes CRC 2 bytes Receive OxFF The duty value is signed and the range is 32768 to 32767 eg 100 duty 34 Drive M1 M2 With Signed Duty Cycle Drive both M1 and M2 using a duty cycle value The duty cycle is used to control the speed of the motor without a quadrature encoder The command syntax Send Address 34 DutyM1 2 Bytes DutyM2 2 Bytes CRC 2 bytes Receive OxFF The duty value is signed and the range is 32768 to 32767 eg 100 duty RoboClaw Series User Manual 64 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 35 Drive Mi With Signed Speed D
52. econd and using an acceleration value for ramping Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate incrementally until the rate defined is reached Send Address 39 Accel 4 Bytes Speed 4 Bytes CRC 2 bytes Receive OxFF The acceleration is measured in speed increase per second An acceleration value of 12 000 QPPS with a speed of 12 000 QPPS would accelerate a motor from O to 12 000 QPPS in 1 second Another example would be an acceleration value of 24 000 QPPS and a speed value of 12 000 QPPS would accelerate the motor to 12 000 QPPS in 0 5 seconds 40 Drive M1 M2 With Signed Speed And Acceleration Drive M1 and M2 in the same command using one value for acceleration and two signed speed values for each motor The sign indicates which direction the motor will run The acceleration value is not signed The motors are sync during acceleration This command is used to drive the motor by quad pulses per second and using an acceleration value for ramping Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate incrementally until the rate defined is reached Send Address 40 Accel 4 Bytes SpeedM1 4 Bytes SpeedM2 4 By
53. ent settings in the table below These are set using the SET button as covered in Mode Options Serial Mode Options Option Description CE RS a E s Ss 3 s ET s ase RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Packet Timeout When sending a packet to RoboClaw if there is a delay longer than 10ms between bytes being received in a packet RoboClaw will discard the entire packet This will allow the packet buffer to be cleared by simply adding a minimum 10ms delay before sending a new packet command in the case of a communications error This can usually be accomodated by having a 10ms timeout when waiting for a reply from the RoboClaw If the reply times out the packet buffer will have been cleared automatically Packet Acknowledgement RoboClaw will send an acknowledgment byte on write only packet commands that are valid The value sent back is OxFF If the packet was not valid for any reason no acknowledgement will be sent back CRC16 Checksum Calculation Roboclaw uses a CRC Cyclic Redundancy Check to validate each packet it receives This is more complex than a simple checksum but prevents errors that could otherwise cause unexpected actions to execute on the Roboclaw The CRC can be calculated using the following code example in C Calculates CRC16 of nBytes of data in byte array message unsigned int crcl6 unsigned char packet int nBytes for
54. ery Low Warning Error LED lit while condition is Motors freewheel while condition active exist M1 or M2 Home Warning Error LED lit while condition is Motor is stopped and encoder is active reset to 0 RoboClaw Series User Manual 13 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Firmware Update LED State If all three LEDs begin to cycle on and off after powering on the Roboclaw has been set to install new firmware Use IonMotion on a Windows PC to install the new firmware to clear this state Automatic Battery Detection on Startup If the automatic battery detection mode is enabled the Stat2 LED will blink to indicate the detected battery type Each blink indicates the number of LIPO cells detected If automatic detection is used the number of cells detected should be confirmed on power up before running the unit Undercharged or overcharged batteries can cause invalid autodetection RoboClaw Series User Manual 14 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RoboClaw Modes There are 4 main modes with variations totaling 14 modes in all Each mode enables RoboClaw to be controlled in a very specific way The following list explains each mode and the ideal application USB can be connected in any mode When the Roboclaw is not in packet serial mode USB packet serial commands can be used to read status information and set configuration settings however motor movement commands will not fun
55. g an acceleration value for ramping Accel is the rate per second at which the duty changes from the current duty to the specified duty Send Address 52 Duty 2 bytes Accel 2 Bytes CRC 2 bytes Receive OxFF The duty value is signed and the range is 32768 to 32767 eg 100 duty The accel value range is 0 to 655359 eg maximum acceleration rate is 100 to 100 in 100ms RoboClaw Series User Manual 69 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 53 Drive M2 With Signed Duty And Acceleration Drive M1 with a signed duty and acceleration value The sign indicates which direction the motor will run The acceleration values are not signed This command is used to drive the motor by PWM and using an acceleration value for ramping Accel is the rate at which the duty changes from the current duty to the specified dury Send Address 53 Duty 2 bytes Accel 2 Bytes CRC 2 bytes Receive OxFF The duty value is signed and the range is 32768 to 32767 eg 100 duty The accel value range is 0 to 655359 eg maximum acceleration rate is 100 to 100 in 100ms 54 Drive M1 M2 With Signed Duty And Acceleration Drive M1 and M2 in the same command using acceleration and duty values for each motor The sign indicates which direction the motor will run The acceleration value is not signed This command is used to drive the motor by PWM using an acceleration value for ramping The command synt
56. h P Proportional I Integral and D Derivative MaxI Maximum Integral windup Deadzone in encoder counts MinPos Minimum Position and MaxPos Maximum Position The defaults values are all zero Send Address 62 D 4 bytes P 4 bytes 1 4 bytes MaxI 4 bytes Deadzone 4 bytes MinPos 4 bytes MaxPos 4 bytes CRC 2 bytes Receive OxFF Position constants are used only with the Position commands 65 66 and 67 or when encoders are enabled in RC Analog modes 63 Read Motor 1 Position PID Constants Read the Position PID Settings Send Address 63 Receive P 4 bytes I 4 bytes D 4 bytes MaxlI 4 byte Deadzone 4 byte MinPos 4 byte MaxPos 4 byte CRC 2 bytes 64 Read Motor 2 Position PID Constants Read the Position PID Settings Send Address 64 Receive P 4 bytes I 4 bytes D 4 bytes MaxlI 4 byte Deadzone 4 byte MinPos 4 byte MaxPos 4 byte CRC 2 bytes 65 Buffered Drive Mi with signed Speed Accel Deccel and Position Move M1 position from the current position to the specified new position and hold the new position Accel sets the acceleration value and deccel the decceleration value QSpeed sets the speed in quadrature pulses the motor will run at after acceleration and before decceleration Send Address 65 Accel 4 bytes Speed 4 Bytes Deccel 4 bytes Position 4 Bytes Buffer CRC 2 bytes Receive OxFF 66 Buffered Drive M2 with signed Speed Accel De
57. il the rate defined is reached Send Address 37 SpeedMl 4 Bytes SpeedM2 4 Bytes CRC 2 bytes J Receive OxFF 38 Drive Mi With Signed Speed And Acceleration Drive M1 with a signed speed and acceleration value The sign indicates which direction the motor will run The acceleration values are not signed This command is used to drive the motor by quad pulses per second and using an acceleration value for ramping Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate incrementally until the rate defined is reached Send Address 38 Accel 4 Bytes Speed 4 Bytes CRC 2 bytes Receive OxFF The acceleration is measured in speed increase per second An acceleration value of 12 000 QPPS with a speed of 12 000 QPPS would accelerate a motor from 0 to 12 000 QPPS in 1 second Another example would be an acceleration value of 24 000 QPPS and a speed value of 12 000 QPPS would accelerate the motor to 12 000 QPPS in 0 5 seconds RoboClaw Series User Manual 65 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 39 Drive M2 With Signed Speed And Acceleration Drive M2 with a signed speed and acceleration value The sign indicates which direction the motor will run The acceleration value is not signed This command is used to drive the motor by quad pulses per s
58. ive M2B S Battery RoboClaw Series User Manual 12 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Status and Error LEDs The RoboClaw has three LEDs Two status LEDs marked STAT1 and STAT2 and an error LED marked ERR When RoboClaw is first powered up all 3 LEDs should flash briefly to indicate all LEDs are functional LEDs will behave differently depending on the mode RoboClaw is set to During normal operation the status 1 LED will remain on continuously or blink when data is received in RC Mode or Serial Modes The status 2 LED will light when either drive stage is active Error and Warning States When an error occurs both motor channel outputs will be disabled and RoboClaw will stop any further actions until the unit is reset or in the case of non latching E Stops the error state is cleared When warnings occur both motor channel outputs will be controlled automatically depending on the warning condition s Condition Type LED Status active based on temperature delay Other LEDs off exist active limited STAT2 indicates channel detected damage is reset Logic Battery Low Error Error LED blinking four times Motors freewheel until RoboClaw is reset Main Battery High Error Error LED blinking five times Motors are stopped by braking until RoboClaw is reset Main Battery High Warning Error LED lit while condition is Motors are stopped by braking active while condition exist Main Batt
59. k as expected The diagram below shows the main battery as the only power source Make sure the LB jumper is set correctly The 5VDC shown connected is only required if your MCU needs a power source This is the BEC feature of RoboClaw If the MCU has its own power source do not the 5VDC UART TX S1 Signal UART RX S2 Signal 5VDC 5VDC GROUND GROUND MCU M1B Positive Negative M2B n Battery RoboClaw RoboClaw Series User Manual 55 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Absolute Encoder Wiring RoboClaw is capable of reading absolute encoders that output an analog voltage Like the Analog input modes for controlling the motors the absolute encoder voltage must be between Ov and 2v If using standard potentiometers as absolute encoders the 5v from the RoboClaw can be divided down to 2v at the potentiometer by adding a resistor from the 5v line on the RoboClaw to the potentiometer For a 5k pot R1 7 5k for a 10k pot R1 15k and for a 20k pot R1 30k The diagram below shows the main battery as the only power source Make sure the LB jumper is set correctly The 5VDC shown connected is only required if your MCU needs a power source This is the BEC feature of RoboClaw If the MCU has its own power source do not connect the 5VDC emm d GROUND GROUND MIR Positive O A O GND gt 2V Ri Negative M2B z A GND 2V Battery Ri d RoboClaw Encoder Motor Calibrati
60. l commands enable encoders for RC Analog modes See General Settings in IonMotion RC Mode Options Option Function Description TTL Flip Switch Flip switch triggered by low signal TTL Flip and Exponential Enabled Softens the center control position This mode is ideal with tank style robots Making it easier to control from an RC radio Flip switch triggered by low signal TTL Flip and MCU Enabled Continues to execute last pulse received until new pulse received Disables Signal loss fail safe and auto calibration Flip switch triggered by low signal RC Flip Switch Enabled Same as mode 1 with flip switch triggered by RC signal RC Flip and Exponential Enabled Same as mode 2 with flip switch triggered by RC signal RC Flip and MCU Enabled Same as mode 3 with flip switch triggered by RC signal RC Flip and Exponential and MCU Same as mode 4 with flip switch triggered by RC Enabled signal TTL Flip and Exponential and MCU Enables both options Flip switch triggered by low Enabled signal RoboClaw Series User Manual 22 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Pulse Ranges The RoboClaw expects RC pulses on S1 and S2 to drive the motors when the mode is set to RC mode The center points are calibrated at start up unless disabled by enabling MCU mode 1250us is the default for full reverse and 1750us is the default for full forward The RoboClaw will auto calibrate these ranges on the fly unless auto ca
61. l create increased inductance which will produce undesirable effects such as electrical noise or increased current and voltage ripple The power supply battery wires must be as short as possible They should also be sized appropriately for the amout of current being drawn Increased inductance in the power source wires will increase the ripple current voltage at the RoboClaw which can damage the filter caps on the board or even causing voltage spikes over the rated voltage of the Roboclaw leading to board failure RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Run Away During development of your project caution should be taken to avoid run away conditions The wheels of a robot should not be in contact with any surface until all development is complete If the motor is embedded ensure you have a safe and easy method to remove power from RoboClaw as a fail safe Power Sources A battery is recommended as the main power source for RoboClaw Some linear power supplies can also be used without additional hardware if they have built in voltage clamps Most Linear and Switching power supplies are not capable of handling the regeneration energy generated by DC motors The regeneration creates voltage spikes which most power sipplies are not designed to handle Switching power supplies will momentarily reduce voltage and or shut down causing brown outs which will leave RoboClaw in an unsafe state The Robocl
62. libration is disabled If a pulse smaller than 1250us or larger than 1750us is detected the new pulse range will be set as the maximum Pulse Function 1250us Lull Reverse 1750us Full Forward RoboClaw Series User Manual 23 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RC Wiring Example Connect the RoboClaw as shown below Set mode 1 with option 1 Before powering up center the control sticks on the radio transmitter turn the radio on first then the receiver then RoboClaw It will take RoboClaw about 1 second to calibrate the neutral positions of the RC controller After RC pulses start to be received and calibration is complete the Stat1 LED will begin to flash indicating signals from the RC receiver are being received Channel 1 S1 Signal Channel 2 S2 Signal 5VDC 5VDC GROUND GROUND Receiver MIR Positive Negative M2B Battery RoboClaw RoboClaw Series User Manual 24 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RC Control Arduino Example The example will drive a 2 motor 4 wheel robot in reverse stop forward left turn and then right turn The program was written and tested with a Arduino Uno and P5 connected to S1 P6 connected to S2 Set mode 2 with option 4 RoboClaw RC Mode Control RoboClaw with servo pulses from a microcontroller Mode settings Mode 2 RC mixed mode with Option 4 MCU with Exponential include lt Servo h gt
63. nd release the LIPO button to save the option to memory RC and Analog Mode Options Option Description TTL Flip Switch TTL Flip and Exponential Enabled TTL D and MCU Enabled a TIL Fip and Exp and MCUEmabled O SSS EE s RCfilp and Exponential Enabled s RC Fip and Exponential and MCU Enabled SSCS Standard Serial and Packet Serial Mode Options Option Description a 3900s s enee e disse s f a6ogoobps RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Battery Cut Off Settings The battery settings can be set by pressing and releasing the LIPO button The STAT2 LED will begin to blink out the current setting Press SET to increment to the next setting Press MODE to decrement to the previous setting Once the desired setting is selected press and release the LIPO button to save this setting to memory Battery Options Option Description i ETE EMS REES ES 2 Cell 6v Cutoff EECHER EE s METE s Feet Manual Voltage Settings The minimum and maximum voltage can be set using the IonMotion software or packet serial commands Values can be set to any value between the boards minimum and maximum voltage limits This is useful when using a power supply A minimum voltage just below the power supply voltage 2 to 3v below will prevent the power supply voltage from dipping too low under he
64. oClaw for use with standard serial The diagram below shows the main battery as the only power source Make sure the LB jumper is set correctly The 5VDC shown connected is only required if your MCU needs a power source This is the BEC feature of RoboClaw If the MCU has its own power source do not the 5VDC UART TX S1 Signal 5VDC 5VDC GROUND GROUND MCU M1B Positive Negative M2B Battery RoboClaw RoboClaw Series User Manual 31 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Standard Serial Mode With Slave Select Slave select is used when more than one RoboClaw is on the same serial bus When slave select is set to ON the S2 pin becomes the select pin Set S2 high 5V and RoboClaw will execute the next set of commands sent to S1 pin Set S2 low 0V and RoboClaw will ignore all received commands Any RoboClaw connected to a bus must share a common signal ground GND shown by the black wire The S1 pin of RoboClaw is the serial receive pin and should be connected to the transmit pin of the MCU All RoboClaw s S1 pins will be connected to the same MCU transmit pin Each RoboClaw S2 pin should be connected to a unique I O pin on the MCU S2 is used as the control pin to activate the attached RoboClaw To enable a RoboClaw hold its S2 pin high otherwise any commands sent are ignored The diagram below shows the main battery as the only power source Make sure the LB jumper is set correctly The
65. ommand is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 43 SpeedM1 4 Bytes DistanceMl 4 Bytes SpeedM2 4 Bytes DistanceM2 4 Bytes Buffer CRC 2 bytes Receive OxFF The Buffer argument can be set to a 1 or O If a value of 0 is used the command will be buffered and executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed 44 Buffered M1 Drive With Signed Speed Accel And Distance Drive M1 with a speed acceleration and distance value The sign indicates which direction the motor will run The acceleration and distance values are not signed This command is used to control the motors top speed total distanced traveled and at what incremental acceleration value to use until the top speed is reached Each motor channel M1 and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 44 Accel 4 bytes Speed 4 Bytes Distance 4 Bytes Buffer CRC 2 bytes Receive OxFF The Buffer argument can be set to a 1 or O If a value of 0 is used the command will be buffered an
66. on for Velocitv Position Control To control motors speed and or position with encoders correctiv the Roboclaw must have its settings calibrated for the specific motors encoders being used The IonMotion software makes calibrating manuallv easv and also offers an autotune function for both velocitv and position control modes Once the calibration settings for the specific mode vou will be using velocitv position or a cascaded velocitv position control are set and working correctiv within the IonMotion software the settings can be saved to the RoboClaw eeprom and will be loaded each time the unit powers up RoboClaw Series User Manual 56 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Velocity Manual Calibration Procedure 1 Determine the quadrature pulses per second QPPS value for your motor The simplest method to do this is to run the Motor at 100 duty using IonMotion and read back the speed value from the encoder attached to the motor If you are unable to run the motor like this due to physical constraints you will need to estimate the maximum speed in encoder counts the motor can produce 2 Set the initial P I and D values in the Velocity control window to 1 0 and 0 Try moving the motor using the slider controls in IonMotion If the motor does not move it may not be wired correctly or the P value needs to be increased If the motor immediately runs at max speed when you change the slider position you probably have
67. ositive terminal is located at the board edge and ground is the inside pin closest to the heatsink Remove the LB MB jumper if a secondary battery for logic will be used BEC Source LB MB RoboClaw logic requires 5VDC which is provided from the on board BEC circuit The BEC source input is set with the LB MB jumper Install a jumper on the 2 pins labeled LB MB to use the main battery as the BEC power source Remove this jumper if using a separate logic battery On models without this jumper the power source is selected automatically Encoder Power The pins labeled and are the source power pins for encoders The positive is located at the board edge and supplies 5VDC The ground pin is near the heatsink On ST models all power must come from the single 5v screw terminal and the single GND screw terminal Encoder Inputs EN1 EN2 1B 1A 2B 2A EN1 and EN2 are the inputs from the encoders on pin header versions of RoboClaw 1B 1A 2B and 2A are the encoders inputs on screw terminal versions of RoboClaw Channel A of both EN1 and EN2 are located at the board edge on the pin header Channel B pins are located near the heatsink on the pin header The A and B channels are labeled appropriately on screw terminal versions When connecting the encoder make sure the leading channel for the direction of rotation is connected to A If one encoder is backwards to the other you will have one internal counter counting up and the
68. other counting down Refer to the data sheet of the encoder you are using for channel direction Which encoder is used on which motor can be swapped via a software setting RoboClaw Series User Manual 10 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Control Inputs S1 S2 S3 S4 S5 S1 S2 S3 S4 and S5 are setup for standard servo style headers I O except on ST models 5V and GND S1 and S2 are the control inputs for serial analog and RC modes S3 can be used as a flip switch input when in RC or Analog modes In serial mode S3 S4 and S5 can be used as emergency stop inputs or as voltage clamp control outputs When set as E Stop inputs they are active when pulled low and have internal pullups so they will not accidentally trip when left floating S4 and S5 can also optionally be used as home signal inputs The pins closest to the board edge are the I Os center pin is the 5V and the inside pins are ground Some RC receivers have their own supply and will conflict with the RoboClaw s 5v logic supply It may be necessary to remove the 5V pin from the RC receivers cable in those cases Main Battery Screw Terminals The main power input can be from 6VDC to 34VDC on a standard RoboClaw and 10 5VDC to 60VDC on an HV High Voltage RoboClaw The connections are marked and on the main screw terminal is the positive terminal and is the negative terminal The main battery wires should be as short as possible Do not in
69. p 44 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers ADVANCED PACKET SERIAL RoboClaw Series User Manual 45 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Version Status and Settings Commands The following commands are used to read board status version information and set read configuration values Command Description 21 Read Firmware Version 2a Read Main Battery Voltage o as Read Logic Battery Voltage SSCS 28 set Minimum Logic Voltage level a Read Wotor ws ao ReMetrCurens ss Set Logic Battery Voltages s9 Read main Battery voltage sein so Read Logic Battery Voltage Settings so restore Dele s2 ReTememue sa ReTememreg so Restus 91 Readencoder Modes O OC o 92 set Motor 1 Encoder Mede 93 set Motor 2 EncoderMode SCS oa write Settings to EEPROM OOS o5 Read settings from man 98 set Standard Config Settings SSCS 99 Read Standard Config Settings SSCS is ETT isa seta Max Current LL las Jett Current SSCS e Read 2 max Current SSS as ETT ao RedPWMMode RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 21 Read Firmware Version Read RoboClaw firmware version Returns up to 48 bytes depending on the Roboclaw model and is terminated by a line feed character and a null character Sen
70. res the Velocity mode QPPS value be set as described above For simple Position control you can set Velocity P I and D all to 0 2 Set the Position I and D settings to 0 Set the P setting to 2000 as a reasonable starting point To test the motor you must also set the Speed argument to some value We recommend setting it to the same value as the QPPS setting eg maximum motor speed Set the minimum and maximum position values to safe numbers If your motor has no dead stops this can be 2 billion If your motor has specific dead stops like on a linear actuator you will need to manually move the motor to its dead stops to determine these numbers Leave some margin infront of each deadstop Note that when using quadrature encoders you will need to home your motor on every power up since the quadrature readings are all relative to the starting position unless you set reset the encoder values 3 At this point the motor should move in the appropriate direction and stop not necessarily close to the set position when you move the slider Increase the P setting until the position is over shooting some each time you change the position slider Now start increasing the D setting leave I at 0 Increasing D will add dampening to the movement when getting close to the set position This will help prevent the over shoot D will usually be anywhere from 5 to 20 times larger than P but not always Continue increasing P and D until the motor is working reasonably
71. rive M1 using a speed value The sign indicates which direction the motor will turn This command is used to drive the motor by quad pulses per second Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate as fast as possible until the defined rate is reached Send Address 35 Speed 4 Bytes CRC 2 bytes Receive OxFF 36 Drive M2 With Signed Speed Drive M2 with a speed value The sign indicates which direction the motor will turn This command is used to drive the motor by quad pulses per second Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate as fast as possible until the rate defined is reached Send Address 36 Speed 4 Bytes CRC 2 bytes Receive OxFF 37 Drive Mi M2 With Signed Speed Drive M1 and M2 in the same command using a signed speed value The sign indicates which direction the motor will turn This command is used to drive both motors by quad pulses per second Different quadrature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate as fast as possible unt
72. rom Roboclaw before displaying on terminal window This prevents the hardware serial interrupt from interfering with reading data using software serial int32 t encl roboclaw ReadEncMl address amp statusl amp validl int32 t enc2 roboclaw ReadEncM2 address amp status2 amp valid2 int32 t speedl roboclaw ReadSpeedMI address amp status3 amp valid3 int32 t speed2 roboclaw ReadSpeedM2 address amp status4 amp valid4 terminal print Encoderl if validi terminal prin terminal prin terminal prin terminal prin enc1 HEX M a status1 HEX else terminal print invalid U terminal print Encoder2 if valid2 terminal prin terminal prin terminal prin terminal prin enc2 HEX status2 HEX else terminal print invalid U terminal print Speed RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers if valid3 terminal print speed1 HEX terminal print U else terminal print invalid U terminal print Speed2 if valid4 terminal print speed2 HEX terminal print U else terminal print invalid U terminal println delay 100 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed
73. rrent offset calibration for better accuracy Added new error warning code GetErrorStatus command now returns 16bits of data Fixed encoder re set command to support values larger then 65535 Removed max current error Add maxcurrent chopper Add temperature max current ramp down RoboClaw Series User Manual 7 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Precautions There are several important precautions that should be followed to avoid damage to the RoboClaw and connected systems 1 Disconnecting the negative power terminal is not the proper way to shut down a motor controller If any I O are connected to the RoboClaw a ground loop through the attached I O pins will result Which can cause damaged to the RoboClaw and any attached devices To shut down a motor controller the positive power connections should be removed first after the motors have stopped moving 2 A DC brushed motor will work like a generator when spun A robot being pushed or turned off with forward momentum can create enough voltage to power RoboClaws logic which will create an unsafe state Always stop the motors before powering down RoboClaw 3 Powering off in an emergency a properly sized switch and or contactor should be used Also because the power may be disconnected at any time there should be a path for regeneration energy to get back to the battery even after the power has been disconnected Use a power diode with proper
74. s L cece ee eee eee eee nn nar eee ee eset eee nn 78 dl ue ET 79 Copyrights and Trademarks 79 DisclalMe viaria IULII III 79 CONTAC 79 DISCUSSION iS Evian 79 Te hni al SUppOtt e 79 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers RoboClaw Revision History RoboClaw is an actively maintained product New firmware features will be available from time to time The table below outlines key revisions that could affect the version of RoboClaw you currently own Revision Description 4 1 11 1 Manual home setting available on S4 and S5 User must send movement commands to motor Motor will stop automatically when the home signal triggers and the encoder count for that motor will be reset 2 Fixed unsigned value underflow in analog filter function 3 Changed E Stop to OR instead of AND when using multiple E Stop inputs Note that if any E Stop is set as latching all E Stops will be latching 4 Added enocder channel swap setting eg Enc2 to Motori and Enc 1 to Motor 2 etc 5 Added Home Signal States to status word See GetStatus command 6 Changed communications checksum in packet serial to CRC CCITT CRC16 xmodem 4 1 10 1 Added reset to default button option on power up hold SET while powering on unit 2 Added new options for S3 S4 and S5 1 Added hysteresis to voltage protection 1
75. s 76 Set DeadBand for RC Analog controls Set RC Analog mode control deadband percentage in 10ths of a percent Default value is 25 2 5 Minimum value is O no DeadBand Maximum value is 250 25 Send Address 76 Reverse Forward CRC 2 bytes Receive OxFF 77 Read DeadBand for RC Analog controls Read DeadBand settings in 10ths of a percent Send Address 77 Receive Reverse SForward CRC 2 bytes 80 Restore Defaults Reset Settings to factory defaults Send Address 80 Receive OxFF RoboClaw Series User Manual 49 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 82 Read Temperature Read the board temperature Value returned is in 10ths of degrees Send Address 82 Receive Temperature 2 bytes CRC 2 bytes 83 Read Temperature 2 Read the second board temperature only on supported units Value returned is in 10ths of degrees Send Address 83 Receive Temperature 2 bytes CRC 2 bytes 90 Read Status Read the current unit status Send Address 90 Receive Status CRC 2 bytes Status Bit Mask Normal 0x0000 M1 OverCurrent Warning 0x0001 M2 OverCurrent Warning 0x0002 E Stop 0x0004 Temperature Error 0x0008 Temperature2 Error 0x0010 Main Battery High Error 0x0020 Logic Battery High Error 0x0040 Logic Battery Low Error 0x0080 MI Driver Fault 0x0100 M2 Driver Fault 0x0200 Main Battery High Warning 0x0400 Main Battery Low Warning Ox0
76. stall the power wires reversed The Roboclaw will be permenantly damaged Disconnect The main battery should have a disconnect in case of a run away situation and power needs to be cut The switch must be rated to handle the maximum current and voltage from the battery This will vary depending on the type of motors and or power source you are using A typically solution would be an inexpensive contactor which can be source from sites like Ebay A power diode rated for the maximum current the battery will deliver should be placed across the switch contactor to provide a path back to the battery when disconnected while the motors are spinning The diode will provice a path back to the battery for regenerative power even if the switch is opened Motor Screw Terminals The motor screw terminals are marked with M1A M1B for channel 1 and M2A M2B for channel 2 For both motors to turn in the same direction the wiring of one motor should be reversed from the other in a typical differential drive robot The motor and battery wires should be as short as possible Long wires can increase the inductance and therefore increase potentially harmful voltage spikes RoboClaw Series User Manual 11 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Basic Wiring The wiring diagrahm below illustrates the basic battery and motor connections for RoboClaw M1A and M1B is motor channel 1 with M2A and M2B as motor channel 2 M1B Positive Negat
77. tes CRC 2 bytes Receive OxFF The acceleration is measured in speed increase per second An acceleration value of 12 000 QPPS with a speed of 12 000 QPPS would accelerate a motor from 0 to 12 000 QPPS in 1 second Another example would be an acceleration value of 24 000 QPPS and a speed value of 12 000 QPPS would accelerate the motor to 12 000 QPPS in 0 5 seconds 41 Buffered M1 Drive With Signed Speed And Distance Drive M1 with a signed speed and distance value The sign indicates which direction the motor will run The distance value is not signed This command is buffered This command is used to control the top speed and total distance traveled by the motor Each motor channel M1 and M2 have separate buffers This command will execute immediately if no other command for that channel is executing otherwise the command will be buffered in the order it was sent Any buffered or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 41 Speed 4 Bytes Distance 4 Bytes Buffer CRC 2 bytes Receive OxFF The Buffer argument can be set to a 1 or O If a value of 0 is used the command will be buffered and executed in the order sent If a value of 1 is used the current running command is stopped any other commands in the buffer are deleted and the new command is executed RoboClaw Series User Manual 66 Ey MOTION RoboClaw Series
78. the motor or encoder wires reversed The motor is trying to go at the speed specified but the encoder reading is coming back in the opposite direction so the motor increases power until it eventually hits 100 power Reverse the encoder or motor wires not both and test again 3 Once the motor has some semblance of control you can set a moderate speed Then start increasing the P value until the speed reading is near the set value If the motor feels like it is vibrating at higher P values you should reduce the P value to about 2 3rds that value Move on to the I setting 4 Start increasing the I setting You will usually want to increase this value by 1 increments The I value helps the motor reach the exact speed specified Too high an I value will also cause the motor to feel rough vibrate This is because the motor will over shoot the set speed and then the controller will reduce power to get the speed back down which will also under shoot and this will continue oscillating back and forth form too fast to too slow causing a vibration in the motor 5 Once P and I are set reasonably well usually you will leave D 0 D is only required if you are unable to get reasonable speed control out of the motor using just P and I D will help dampen P and over shoot allowing higher P and I values but D also increases noise in the calculation which can cause oscillations in the speed as well Position Manual Calibration Procedure 1 Position mode requi
79. ushed DC Motor Controllers Commands 8 13 Mixed Mode Compatibility Commands The following commands are mix mode compatibility commands used to control speed and turn using differential steering Before a command is executed valid drive and turn data is required You only need to send both data packets once After receiving both valid drive and turn data RoboClaw will begin to operate the motors At this point you only need to update turn or drive data as needed 8 Drive Forward Drive forward in mix mode Valid data range is 0 127 A value of O full stop and 127 full forward Send Address 8 Value CRC 2 bytes Receive OxFF 9 Drive Backwards Drive backwards in mix mode Valid data range is O 127 A value of O full stop and 127 full reverse Send Address 9 Value CRC 2 bytes Receive OxFF 10 Turn right Turn right in mix mode Valid data range is 0 127 A value of 0 stop turn and 127 full speed turn Send Address 10 Value CRC 2 bytes Receive OxFF 11 Turn left Turn left in mix mode Valid data range is 0 127 A value of 0 stop turn and 127 full speed turn Send Address 11 Value CRC 2 bytes Receive OxFF 12 Drive Forward or Backward 7 Bit Drive forward or backwards Valid data range is 0 127 A value of 0 full backward 64 stop and 127 full forward Send Address 12 Value CRC 2 bytes Receive OxFF 13 Turn Left or Right 7 Bit
80. uty cycle commands Cmds 32 33 and 34 or when using Standard Serial RC and Analog PWM modes Send Address 69 Accel 4 bytes CRC 2 bytes Receive OxFF RoboClaw Series User Manual 72 MOTION HON E564 Reading Quadrature Encoder Arduino Example RoboClaw Series Brushed DC Motor Controllers The example was tested with an Arduino Uno using packet serial wiring and quadrature encoder wiring diagrams The example will read the speed total ticks and direction of each encoder Connect to the program using a terminal window set to 38400 baud The program will display the values of each encoders current count along with each encoder status bit in binary and the direction bit As the encoder is turned it will update the screen Additional example programs can be downloaded from Ionmc com Set mode to 7 packet serial address 0x80 and option 4 38400 Includes required to use Roboclaw library include BMSerial h include RoboClaw h Roboclaw Address define address 0x80 Definte terminal for display Use hardware serial pins 0 and 1 BMSerial terminal 0 1 Setup communcaitions with roboclaw Use pins 10 and 11 with 10ms timeout RoboClaw roboclaw 10 11 10000 void setup Open terminal and roboclaw at 38400bps terminal begin 57600 roboclaw begin 38400 void loop uint8 t statusl status2 status3 status4 bool validl valid2 valid3 valid4 Read all the data f
81. well Once it is you have tuned a simple PD system RoboClaw Series User Manual 57 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 4 Once your position control is acting relatively smoothly and coming close to the set position you can think about adjusting the I setting Adding I will help reach the exact set point specified but in most motor systems there is enough slop in the gears that instead you will end up causing an oscillation around the specified position This is called hunting The I setting causes this when there is any slop in the motor encoder gear train You can compensate some for this by adding deadzone Deadzone is the area around the specified position the controller will consider to be equal to the position specified 5 One more setting must be adjusted in order to use the I setting The Imax value sets the maximum wind up allowed for the I setting calculation Increasing Imax will allow I to affect a larger amount of the movement of the motor but will also allow the system to oscillate if used with a badly tuned I and or set too high Auto tuning IonMotion includes the option to autotune velocity and or position values To use these options you should first make sure your encoder and motor are running in the correct direction and that basic PWM control of the motor works as expected To do this go to the PWM Settings screen in IonMotion Slide the motor slider up to start moving the motor forward Check the
82. wieni ik ke nu EEN NEE ii 16 Neie 16 Mode Options 17 Battery Cut Off Settings a ta 18 Battery Options iatale ide A a 18 Manual Voltage Settings ricino n 18 RoboClaw and USB Power desse geen ge NEE NEEN NEEN ge EES ENEE Ee 20 RoboClaw USB CONMGCtHOM cies see snai ae 20 USB Comport and Baudrate eee tux dE SEN EEN nas a SEN nanan degen 20 RG MOG eegne 22 RC Mode With Mixing det ince EEN dE ta vega ma kx RE dac ad ca DR ENER dd 22 Using RC Mode with feedback for velocitv position control en 22 RC M de Option PORE 22 Pulse Cice geess a a Seege ue 23 RC Wiring Exatmlple 2 ses get NEEN EENS a Aaa cater dads 24 RC Control Arduino Example ies dennesiaeedaesensecacvenendere rec dines ENEE ENEE EN 25 Anal g Mode ii ia ga aj A A a See 27 Analog Mode With MIXING i iiie ie rte deed Ed a a du 27 Using Analog Mode with feedback for velocitv position control en 27 Analog Mode Options nae rtr a aa 27 RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers Analog Wiring Example ii si eise a A EE 28 Standard Serial Mode iia at Ra 30 Serial Mode Baud Rates iii e a AIR ER CR E n ia 30 Standard Serial Command Gwvpntan eene emen een 30 Standard Serial Wiring Example nemen eene 31 Standard Serial Mode With Slave Select nn nerenennnnnnnnnnenenznnenana 32 Standard Serial Arduino Example sss nene eene 33 e D
83. y by setting the maximum voltage level RoboClaw will before exceeding it go into hard braking mode until the voltage drops below the maximum value set This will prevent overvoltage conditions when using power supplies The formula for calculating the voltage is Desired Volts x 5 12 Value Examples of valid values are 12V 62 16V 82 and 24V 123 Send Address 3 Value CRC 2 bytes Receive OxFF RoboClaw Series User Manual 40 Ey MOTION RoboClaw Series CONTROL Brushed DC Motor Controllers 4 Drive Forward M2 Drive motor 2 forward Valid data range is O 127 A value of 127 full speed forward 64 about half speed forward and O full stop Send Address 4 Value CRC 2 bytes Receive OxFF 5 Drive Backwards M2 Drive motor 2 backwards Valid data range is O 127 A value of 127 full speed backwards 64 about half speed backward and O full stop Send Address 5 Value CRC 2 bytes Receive OxFF 6 Drive M1 7 Bit Drive motor 1 forward or reverse Valid data range is O 127 A value of O full speed reverse 64 stop and 127 full speed forward Send Address 6 Value CRC 2 bytes Receive OxFF 7 Drive M2 7 Bit Drive motor 2 forward or reverse Valid data range is O 127 A value of O full speed reverse 64 stop and 127 full speed forward Send Address 7 Value CRC 2 bytes Receive 0xFF RoboClaw Series User Manual Ey MOTION RoboClaw Series CONTROL Br

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