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NextGen Controllers User Manual

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1. IR Roborun seo CH Work Motor Control Utility ak One Rev 1 1 5 22 10 View Pinout Control Unit H Type Controller Model DC 245 Configuration Run Console Out data In data Send Send Send Send Send Send Send Send j Send Send Stop Update Controller Firmware Update Controller Logic Update Power Board Logic Gear tog Hd Copy Log FID Roboteq v0 9 RCB500 10 01 2009 Found COMI COM2 COM2 is Open Firmware ID Roboteq v1 1 RCB500 05 24 2010 FIGURE 89 Console tab 240 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IRoboteQ Console Tab Updating the Controller s Firmware The controller s firmware can be updated in the field This function allows the controller to be always be up to date with the latest features or to install custom firmware Update can be done via the serial port or via USB for USB fitted models To update the controller firmware click on the Update button and you can let controller automatically process the update after you have browsed for and selected the new firm ware file The log and checkboxes show the progress of the operation a Update Controller Firmware o a V Checking the controller Log i ee Checking file C cvs_projects RobotARM RIDES00 E Device is Restarted TOU E MCIoA bin asst Searching for device Checking COM1 device not found C
2. 62 I O Configuration and Operation cee eene 63 Basic Operation ssr uei k ma beni cha vale tus BRENT vide aes 63 INPUT Selection 1334 nirun Rede NAAN e ce dw teeta Gu Remis NA 64 Digital Inputs Configurations and USES 1 eee ees 64 Analog Inputs Configurations and Use ccc cee ees 65 Analog Min Max Detection 000 a eee 66 Min Max and Center adjustment 0 0 cece eee eee 66 Deadband Selection sx siest EEEE Dodie PRA ea KES NAAN KEA 67 Exponent Factor Application eee 68 Use of Analog Input xxix un nh nnt chc cR xn ene c RR n n 68 Pulse Inputs Configurations and Uses aaa 68 USe Of Pulse Iriput ma ana remm nmm mmm er eR RR 69 Digital Outputs Configurations and Triggers 70 Encoder Configurations and USC ccc eee ees 70 Hall S nsor Inputs ag arx oec SA ee nae ea ca x eS 71 Motor Operating Features and Options llle eene 73 Power Output Circuit Operation 2 0 ee ee ene 73 Global Power Configuration Parameters clle ees 74 PNM Frequetiey xn nnne e n ctn mGa Rn aces afew aE 74 Overvoltage Protection ccc eee eee nnn 74 Undervoltage Protection apria aaeanoa a ed ee eee ee xa 74 Temperature Based Protection ccc eee 74 Short Circuit Protection esse lere A ee eee ee RE TEMERE 75 Mixing Mode Select leer RR RB we wee we 75 Motor Channel P r meterss sss rel a x Ra x Wow ee ees 76 User Sele
3. 139 Executing MicroBasic Scripts eee ees 139 Script Command Priorities suu ck tea ean ea ee ata wee ye Re 140 MicroBasic Scripting Techniques 6 eee eee eee 140 Single Execution Scripts xum erx but ged reete ele Ran DR Gere dees 140 Continuous Scripts i soll lk cR e ht NAA m dn 140 Optimizing Scripts for Integer Math llle 141 Script Examples sisiran nr menm RR E RR RR OR ROCA OR EUR RR Rees 142 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote MicroBasic Language Reference a eee eee 143 I FEFOGTU CODES cec c ccce KAEN co e REC Ap Tc s CC RC CR T C ca 143 COMMEN S AA P se ie ate 143 BoOol88H a aa ya Ck ROC ORC e RC UO doc e CR E CC 143 INNO OS AA AA AA 143 AH a 144 Blocks and LabelS 0c cee ee eee an R hn 144 MEER PT 145 AUG AA eG heen bee bee vee bad babe a EG RERO FERE 145 Terminology uunc mc noc cee eRe Ree Ee oe 145 KeyWOTF S ssa BNG IBANG DANG Pe RE Reg 146 OPES xxu ed eu RU NG a a t RR nid eee ee a 146 Micro Basic FURCHIONSS s 4 ss daa hha m cm OR RR eee RR OR 147 Controller Configuration and Commands lesse 147 Timers Commands utr ue RE REY PER RE X C avs 147 Option Compilation Options mmn 147 Dim Variable Declaration nnn 147 IE ThenStaterent sea okeee eE hr x RR RUE WANNA Re RUE ERR 148 For Next Statement erisera anan rex EPI e
4. aan 201 ACTR Set Analog Input Center 0 Level leeren 201 ADB Analog Deadband 200 a eere 201 AINA Analog Input Usage 2 2c eee eee 202 ALIN Analog Linearity cee eee 202 AMAX Set Analog Input Max Range eee eee eee eee 203 AMAXA Action at Analog Max 2 2 cee eee an 203 AMIN Set Analog Input Min Range cece eee eee 203 AMINA Action at Analog Min cece eee 204 Aavanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote AMOD Enable and Set Analog Input Mode Less 204 APOL Analog Input Polarity 0 0 cee eee 204 Pulse Input Configuration 6 22 maa 0s RR Re ER dew ace AE RUP KORR AC 205 PCTR Pulse Center Range 0 cece eee ees 205 PDB Pulse Input Deadband 20 cece ee 205 PINA Pulse Input Use 2 ee ee eee 206 PLIN Pulse Linearity 2 2 0 cee ee 206 PMAX Pulse Max Range eee eee ee eee eee eee 206 PMAXA Action at Pulse MaX 1 cece eee ee 207 PMIN Pulse Min Ranges se mmm mnm ee s papani 207 PMINA Action at Pulse Min ccc ee eee 207 PMOD Pulse Mode Select 0 cee eee eee 207 PPOL Pulse Input Polarity sic ERI REIR RE 208 Encoder Operation aaa PINAG BANGS AG TCR RR e RC ee 208 EHL Encoder High Count Limit 208 EHLA Encoder High Limit Action llle 209 EHOME Encoder Counter Load at Home Position
5. 209 ELL Encoder Low Count Limit 0 00 eee e eee eee eee 209 ELLA Encoder Low Limit Action an 209 EMOD Encoder Usage ssec mr RI Geena eos 210 EPPR Encoder PPR Values eect sce net RAS 210 Brushless Specific Commands 2 cece eee eee eee ees 211 BHL Brushless Counter High Limit 211 BHLA Brushless Counter High Limit Action 000 cee eee 211 BHOME Brushless Counter Load at Home Position 211 BLFB Encoder or Hall Sensor Feedback 212 BLL Brushless Counter Low Limit llle 212 BLLA Brushless Counter Low Limit Action aa 212 BLSTD Brushless Stall Detection aaa 213 BPOL Number of Poles of Brushless Motor and Speed Polarity 213 General Power Stage Configuration Commands 214 BKD Brake Activation Delay 2 an 214 MXMD Separate or Mixed Mode Select 214 OVE Overvoltage Limit essc iu neri n sei Geeta ERAK 214 PWMF PWM Frequency nnn 215 THLD Short Circuit Detection Threshold 2 cee eee 215 UVL Undervoltage Limit llle 215 Motor Channel Configuration and Set Points 216 ALIM Amp Limit maga union ru et nc Re ect c oec 216 ATGA Amps Trigger Action llle 217 ATGD Amps Trigger Delay llle rn 217 ATRIG Amps Trigger Level 2 cee ee eee es 217 CLERD Closed Loop Error Detection 0
6. 214 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ General Power Stage Configuration Commands Allowed Range 10 0V to Max Voltage rated in controller Data Sheet Default Value Maximum voltage rated in controller Data Sheet Example OVL 400 Set Overvoltage limit to 40 0V PWMF PWM Frequency This parameter sets the PWM frequency of the switching output stage It can be set from 1 kHz to 32 kHz The frequency is entered as kHz value multiplied by 10 e g 185 18 5 kHz Beware that a too low frequency will create audible noise and would result in lower performance operation Syntax APWMIF nn PWMF Where nn Frequency 10 Allowed Range 10 to 200 1kHz to 20kHz Default Value 180 18 0 kHz Example APWMF 200 Set PWM frequency to 20kHz THLD Short Circuit Detection Threshold This configuration parameter sets the threshold level for the short circuit detection There are 4 sensitivity levels from 0 to 3 Syntax ATHLD nn THLD Where nn 0 Very high sensitivity 0 1 Medium sensitivity 2 Low sensitivity 3 Short circuit protection disabled Default Value 1 Medium sensitivity Example THLD 1 Set short circuit detection sensitivity to medium Notes You should never disable the short circuit protection UVL Undervoltage Limit This parameter sets the voltage below which the controller will turn off its power stage The voltage is entered as a
7. Input 1000 Pu 1000 FIGUR 37 Effect of deadband on the output Note that the deadband only affects the start position at which the joystick begins to take effect The motor will still reach 10096 when the joystick is at its full position An illustration of the effect of the deadband on the joystick action is shown in the Figure 38 below Deadband Min no action Min Reverse Forward Max Reverse Max Forward Centered Position FIGURE 38 Effect of deadband on joystick position vs motor command The deadband value is set independently for each input using the PC configuration utility Advanced Digital Motor Controllers User Manual 67 VO Configuration and Operation IRoboteQ Exponent Factor Application An optional exponential or a logarithmic transformation can then be applied to the signal Exponential correction will make the commands change less at the beginning and become stronger at the end of the joystick movement The logarithmic correction will have a stron ger effect near the start and lesser effect near the end The linear selection causes no change to the input There are 3 exponential and 3 logarithmic choices weak medium and strong The graph below shows the output vs input change with exponential logarithmic and linear corrections Output 1000 Logarithmic Linear Exponential 1000 Input 1000 1000 FIGURE 39 Effect of exponenti
8. EELD Load Parameters from EEPROM This command reloads the configuration that are saved in EEPROM back into RAM and activates these settings Syntax EELD EERST Reset Factory Defaults The EERST command will reload the controller s RAM and EEPROM with the factory default configuration Beware that this command may cause the controller to no longer work in your application since all your configurations will be erased back to factory defaults This command must be used with care and must be followed by a 9 digit safety key to pre vent accidental use Syntax EERST safetykey Where safetykey 321654987 Example EERST 321654987 EESAV Save Configuration in EEPROM Controller configuration that have been changed using any Configuration Command can then be saved in EEPROM Once in EEPROM it will be loaded automatically in the control ler every time the unit is powered on If the EESAV command is not called after changing a configuration the configuration will remain in RAM and active only until the controller is turned off When powered on again the previous configuration that was in the EEPROM is loaded This command uses no parameters Syntax EESAV Notes Do not save configuration while motors are running Saving to EEPROM takes several milliseconds during which the control loop is suspended LK Lock Configuration Access This command is followed by a userselected secret 32 bit number After receiving it the co
9. Feedback Sensor Range Setting Regardless the type of sensor used feedback sensor range is scaled to a 1000 to 1000 value so that it can be compared with the 1000 to 1000 command range On analog and pulse sensors the scaling is done using the min max center configuration parameters When encoders are used for feedback the encoder count is also converted into a 1000 to 1000 range In the encoder case the scaling uses the Encoder Low Limit and Encoder High Limit parameters See Serial RS232 USB Operation on page 111 for details on these configuration parameters Beware that encoder counters produce incremental val ues The encoder counters must be reset using the homing procedure before they can be used as position feedback sensors Important Notice Potentiometers are mechanical devices subject to wear Use better quality potenti ometers and make sure that they are protected from the elements Consider using a solid state hall position sensor in the most critical applications Optical encoders may also be used but require a homing procedure to be used in order to determine the zero position Advanced Digital Motor Controllers User Manual 95 Closed Loop Relative and Tracking Position Modes I RoboteQ Important Warning If there is a polarity mismatch the motor will turn in the wrong direction and the position will never be reached The motor will turn until the Closed Loop Error detec tion is trig
10. Data Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 TPDO1 VAR1 VAR2 TPDO2 VAR3 VAR4 TPDO3 VAR5 VARG VAR7 VAR8 TPDO4 BVar BVar BVar BVar 1 8 9 16 17 24 25 32 Byte and Bit Ordering nteger Variables are loaded into a frame with the Least Significant Byte first Example 0x12345678 will appear in a frame as 0x78 0x56 0x34 0x12 Boolean Variables are loaded in a frame as shown in the table above with the lowest Bool ean Variable occupying the least significant bit of each byte Example Boolean Var 1 will appear in byte as 0x01 120 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Using MiniCAN Mode Receiving Data In MiniCAN mode incoming frames headers are compared to the Listen Node ID number If matched and if the other 4 bits of the header identify the frame as a CANopen standard RPDO1 to RPDOA then the data is parsed and stored in Integer or Boolean Variables according to the map below The received data can then be read from the serial USB using the VAR or B queries or they can be read from a MicroBasic script using the get value VAR n or getvalue B n functions Header RPDO1 0x200 NodelD RPDO2 0x300 NodelD RPDOS 0x400 NodelD RPDO4 0x500 NodelD Data Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 RPDO1 VARQ VAR10 RPDO2 VAR11 VAR12 RPDO3 VAR13 VAR14 VAR15 VAR16 RPDO4 BVar BVar BVar BVar 33 40 41 4
11. Writing scripts for the Roboteq controllers is similar to writing programs for any other com puter Scripts can be called to run once and terminate when done Alternatively scripts can be written so that they run continuously Single Execution Scripts These scripts are programs that perform a number of functions and eventually terminate These kind of scripts can be summarized in the flow chart below The amount of process ing can be simple or very complex but the script has a clear begin and end Processing FIGURE 64 Single execution scripts Continuous Scripts More often scripts will be active permanently reacting differently based on the status of analog digital inputs or operating parameters Amps Volts Temperature Speed Count and continuously updating the motor power and or digital outputs These scripts have 140 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ MicroBasic Scripting Techniques a beginning but no end as they continuously loop back to the top A typical loop construc tion is shown in the flow chart below Initialization Steps top Time Input or Controller events Process Events FIGURE 65 Continuous execution scripts Often some actions must be done only once when script starts running This could be set ting the controller in an initial configuration or computing constants that will then be used in the script s ma
12. divides its first operand by its second expression expression Mod Operator The modulus operator Mod computes the remainder after dividing its first operand by its second expression Mod expression And Operator The And operator functions only as a binary operator For numbers it computes the bit wise AND of its operands For boolean operands it computes the logical AND for its oper ands that is the result is true if and only if both operands are true expression And expression Or Operator The Or operator functions only as a binary operator For numbers it computes the bitwise OR of its operands For boolean operands it computes the logical OR for its operands that is the result is false if and only if both its operands are false expression Or expression XOr Operator The xor operator functions only as a binary operator For numbers it computes the bit wise exclusive OR of its operands For boolean operands it computes the logical exclu sive OR for its operands that is the result is true if and only if exactly one of its operands is true expression XOr expression Not Operator The Not operator functions only as a unary operator For numbers it performs a bitwise complement operation on its operand For boolean operands it negates its operand that is the result is true if and only if its operand is false Not expression 154 Advanced Digital Motor Controllers User Manual Version 1 3
13. IRoboteQ Advanced Digital Motor Controllers User Manual Brushed DC HDC24xx VDC24xx MDC22xx LDC22xx LDC14xx SDC1130 SDC21xx Brushless DC HBL16xx VBL16xx HBL23xx VBL23xx LBL13xx MBL16xx SBL13xx Sepex VSX18xx v1 3 September 1 2013 visit www roboteg com to download the latest revision of this manual Copyright 2013 Roboteq Inc Advanced Digital Motor Controllers User Manual IRoboteQ Revision History Date Version Changes September 1 2013 1 3 Extended command set and CANopen Object Dictionary Implemented FIFO buffer for CAN frames in the RawCAN mode Miscellaneous corrections May 10 2012 12 Added CAN Networking Added Closed Loop Count Position mode Closed Loop Torque mode Extended command set January 8 2011 1 2 Added Brushless Motor Connections and Operation July 15 2010 12 Extended command set Improved position mode May 15 2010 1 1 Added Scripting January 1 2010 1 0 Initial release The information contained in this manual is believed to be accurate and reliable However it may contain errors that were not noticed at time of publication Users are expected to perform their own product validation and not rely solely on data contained in this manual Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote SECTION 1 SECTION 2 Revision HIStO y mama naaa mnn ncmpe km Ra NDN Tee Ree RRS RRS 2 l au
14. axis number mm acceleration value Q 7MA R MAz100 200 300 Returns X Y and Z acceleration values Q 7MA 3 R MAz200 Returns Y acceleration value MGD Read Magsensor Track Detect Reports whether a magnetic tape is within the range of the magnetic sensor If no tape is detected the output will be O Syntax Reply Where MGD MGD nn nn 0 no track detected nn 1 track detected MGM Read Magsensor Markers Reports whether a marker is detected within the range of the magnetic sensor MGS Read Syntax Reply Where MGM nn MGM mm nn Marker number nn 1 Left Marker nn 2 Right Marker mm 0 No marker detected mm 1 Marker detected Magsensor Status Returns a single number with general status information about the sensor This query can be used to detect that a sensor is present and operational Syntax Reply Where MGS MGS 11 f2 2 f3 4 fn 2 f1 Tape detect f2 Left marker present f3 Right marker present f9 Sensor active MGT Read Magsensor Track Position Reports the position of the magnetic track in millimeters using the center of the sensor as the O reference Syntax MGM nn Advanced Digital Motor Controllers User Manual 183 Commands Reference I RoboteQ Reply MGM mm Where nn track number mm position in millimeters P Read Motor Power Output Applied Reports the actual power that is being ap
15. e Faulty firmware Errors or oversights in user MicroBasic scripts Controller hardware failure Motor Deactivation in Normal Operation In normal operation the controller is always able to turn off the motor if it detects faults or if instructed to do so from an external command In case of wiring problem sensor malfunction firmware failure or error in user Microbasic scripts the controller may be in a situation where the motors are turned on and kept on as long as the controller is powered A number of features discussed throughout this manual are available to stop motor operation in case of abnormal situation These include Watchdog on missing incoming serial USB commands Loss detection of Radio Pulse e Analog command outside valid range Limit switches Stall detection e Close Loop error detection Other Additional features can easily be added using MicroBasic scripting Ultimately the controller can be simply turned off by grounding the Power Control pin Assuming there is no hardware damage in the power stage the controller output will be off i e motor wires floating when the controller is off Important Warning While cutting the power to the motors is generally the best thing to do in case of major failure it may not necessarily result in a safe situation Motor Deactivation in Case of Output Stage Hardware Failure On brushed DC motor controllers the power stage for each motor is comp
16. n the Torque mode the command value is the desired Motor Amps relative to the Amps mit configuration parameters r Syntax IG nn mm 168 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Commands Where nn motor channel mm command value Examples G 1500 3 Open Loop Speed mode applies 5096 power to the motors 3 Closed Loop Speed mode assuming that 3000 is contained in Max PM parameter MXRPM motor will go to 1500 RPM ZU n Closed Loop Relative or Closed Loop Tracking modes the motor will move to 75 position of the total 1000 to 1000 motion range n Torque mode assuming that Amps Limit is 60A motor power will rise until 30A are measured H Load Home Counter This command loads the Home count value into the Encoder or Brushless Counters The Home count can be any user value and is set using the EHOME and BHOME configuration parameters When sent without argument the command loads all counters for all motors with their preset value When sent with an argument the argument selects the motor channel Beware that loading the counter with the home value while the controller is oper ating in closed loop can have adverse effects Syntax IH nn Where nn motor channel Examples IH 1 loads encoder counter 1 and brushless counter 1 with their preset home values IH 2 loads encoder counter 2 and brushless counter 2 with their preset ho
17. DING DIN10 Pulse In RCI Rez 4 AnaIn ANAL ANAZ ANA4 ANAS ANA6 ANA ANAL Digital Out Encoder Enc2B EnciB Q9 9 69 65 69 9 69 65 69 65 62 Q sou 609060000096 06 oo Pin Te 3 4 6 7 8 10 11 12 Digital In DIN3 DIN DIN15 DIN17 DIN DIN9 DIN11 Pulse In C3 Ana In ANA ET ANAS ANA Digital Out pour bour pours Encoder Enc2A EnclA Com TxData RxData FIGURE 67 Pinout View pop up window Clicking in the Work Offline checkbox allows you to manually select a controller model and populate the Configuration and Run trees with the features and functions that are avail able for that model Working offline is useful for creating editing configuration profiles with out the need to have an actual controller attached to the PC Status Bar Content The status bar is located at the bottom of the window and is split in 4 areas From left to right List of COM ports found on the PC e COM port used for communication with the controller Port Open indicates that communication with the controller is established Advanced Digital Motor Controllers User Manual 227 Using the Roborun Configuration Utility I RoboteQ Firmware ID string as reported by the controller Contains revision number and date e Connected Disconnected LED When lit green it indicates that the communication with the controller is OK Program Launch and Controller Discovery After launching th
18. Index Sub Entry Name Access amp Page 0x2117 01 Read Internal Analog Command ch 1 S32 RO CIA page 177 02 Read Internal Analog Command ch 2 0x2118 01 Read Internal Pulse Command ch 1 S32 RO CIP page 177 02 Read Internal Pulse Command ch 2 0x2119 00 Read Time U32 RO TM page 185 Ox211A 01 Read Spektrum Radio Capture 1 U16 RO K page 181 02 Read Spektrum Radio Capture 2 03 Read Spektrum Radio Capture 3 04 Read Spektrum Radio Capture 4 05 Read Spektrum Radio Capture 5 06 Read Spektrum Radio Capture 6 07 Read Spektrum Radio Capture 7 0x211B 01 Destination Pos Reached flag ch 1 U8 RO DR page 179 02 Destination Pos Reached flag ch 2 Ox211C 01 Read MEMS Accelerometer X axis S32 RO MA page 182 02 Read MEMS Accelerometer Y axis 03 Read MEMS Accelerometer Z axis Ox211D 00 Read Magsensor Track Detect U16 RW MGD page 183 Ox211E 00 Read Magsensor Track Position U8 RW MGT page 183 Ox211F 01 Read Magsensor Markers U8RW MGM page 183 0x2120 00 Read Magsensor Status U8 RW MGS page 183 0x2121 00 Read Motor Status Flags U8 RO FM page 180 0x6400 01 Read Individual Digital Input 1 S32 RO DI page 178 02 Read Individual Digital Input 2 03 Read Individual Digital Input 3 04 Read Individual Digital Input 4 Repeat for all inputs 0x6401 01 Read Analog Input 1 16 RO Al page 174 02 Read Analog Input 2 03 Read Analog Input 3 04 Read Analog Input 4 Repeat for all inputs 0x6402 01 Read Analog Input 1 Converted S16 RO AIC pa
19. Robote The RC mode provides the simplest method for remotely controlling a robotic vehicle little else is required other than connecting the controller to the RC receiver and powering it On SBRERRRR FIGURE 31 R C radio control mode The speed or position information is communicated to the controller by the width of a pulse from the RC receiver a pulse width of 1 0 millisecond indicates the minimum joystick position and 2 0 milliseconds indicates the maximum joystick position When the joystick is in the center position the pulse should be 1 5ms joystick position min center max R C pulse timing 6 Siig FIGURE 32 Joystick position vs pulse duration default values The controller has a very accurate pulse capture input and is capable of detecting changes in joystick position and therefore pulse width as small as 0 1 This resolution is superior to the one usually found in most low cost RC transmitters The controller will therefore be able to take advantage of the better precision and better control available from a higher quality RC radio although it will work fine with lesser expensive radios as well Input RC Channel Selection The controllers features 5 or 6 inputs depending on the model type that can be used for pulse capture Using different configuration parameters any RC input can be used as com mand for any motor channels The controller s factory default defines two channels for RC
20. September 1 2013 I Ro boteQ Introduction True Literal The True keyword is a literal of type Boolean representing the boolean value true False Literal The False keyword is a literal of type Boolean representing the boolean value false Operator The increment operator increments its operand by 1 The increment operator can appear before or after its operand var var The first form is a prefix increment operation The result of the operation is the value of the operand after it has been incremented The second form is a postfix increment operation The result of the operation is the value of the operand before it has been incremented a 10 Print a n Print a n Print ta n Print a n The output of previous program will be the following 10 11 12 12 Operator The decrement operator decrements its operand by 1 The decrement operator can appear before or after its operand Via Vai The first form is a prefix decrement operation The result of the operation is the value of the operand after it has been decremented The second form is a postfix decrement operation The result of the operation is the value of the operand before it has been decremented a 10 Print a n Print a Xn Print a n Print a n Advanced Digital Motor Controllers User Manual 155 MicroBasic Scripting I RoboteQ The output of previ
21. The Run tab lets you exercise the motors and visualize all the inputs and outputs of the controller A powerful chart recorder is provided to plot real time controller parameters on the PC and or log to a file for later analysis mum Hees IRoboteQ sm F Work Offine View Pinout Control Unit H Type Controller Model HDC245 Configuration Run Console Scripting Ig Qrsuss Pulse Analog resor eo eo V Heat OverVolt Undervolt Short eur 9 eo 2 vi Q0 02 Q3 o Qs Qo Qo Qoo 00 Ece Gro Gre Q EnciA Qro Gm 90 Qoo Qoo ons on 900 Qo Dini9 Qoo Qoo Command L JL Mute U 68 0 te wmm Capture M amens 1 i 1 1 TEE a E E 60 man LAH 20 X i X E p PN 20 wa T hs 40 80 z 80 La Ka NAAN derer Dr dor dorm Found COMI COM2 COM2 is Open 7 E 2786 Cmd1 0 NC o Pini 2791 Cmd2 0 NC 0 Pin2 0 NC 0 NC 0 Pin3 NC 0 NC 0 Ping dous 0 MTmp 0 NC 0 Pin dous 0 MTmp2 0 Ping EJE osik Stop Enable Sop Cog Cee Channel OO O Vae Mn Max Cr Bl Motor Command 1 asa rs Wl Motor Power 1 9 23 m p Bi Speed 2 50 1980 1485 E E speed 1 5 97 2 Jj Bl Encoder Count 1 v 19934 66476 475487 EE Eat Amos 1 z o 1 O Bl Heatsink Temp 2 zx 25 27 3 Wi Controller Vot z B3 11 14 B B Pause J Gear Chat save E Gear Log Firmware ID Roboteq v1 1 RCB500 05 24 2010 FIGURE 86 Run tab Status and Each group of monitore
22. This button will also clear the custom labels if any were created Load from Controller Save to Controller Load Profile from Disk Save Profile to Disk Reset Defaults FIGURE 74 Loading 4 Saving parameters buttons Locking 8 Unlocking Configuration Access The Add Remove Lock button is used to lock the configuration so that it cannot be read by unauthorized users Given the many configuration possibilities of the controller this locking mechanism can provide a good level of Intellectual Property protection to the sys tem integrator Add Remove Lock FIGURE 75 Add Remove lock button If the controller is not already locked clicking on this buttons pops up a window in which you can enter a secret number The number is a 32 bit value and so can range from 1 to 4294967296 a Create Lock Key mm Create a Lock and Key to prevent unauthorized reading of the controllers configuration parameters Lock Key o Confirm Key V Remember device unlock key cora FIGURE 76 Lock creation window 232 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ Configuration Parameters Grouping amp Organization That secret number gets stored inside the controller with no way to read it Once locked any time there is an attempt to read the controller configuration as for exam ple when the controller is first detected a message
23. To configure communication parameters via the RoborunPlus PC utility your controller must be connected to a PC via an RS232 USB port See Using the Roborun Configuration Utility on page 225 Use the CAN menu in the Configuration tab in order to enable the CANopen mode Addi tionally the utility can be used to configure the following parameters Node ID Bitrate Heartbeat ms e Autostart e TPDO Enable and Send rate Node ID Every CANopen network device must have a unique Node ID between 1 and 127 The value of O is used for broadcast messaging and cannot be assigned to a network node The default Node ID assigned to a Roboteq motor controller is set to 1 Bit Rate The CAN bus supports bit rates ranging from 10Kbps to 1Mbps The default rate used in the current CANopen implementation is set to 125kbps Valid bit bates supported by the controller are e 1000K e 800K e 500K 124 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ CAN Bus Configuration e 250K e 125K e 50K e 25K e 10K Heartbeat A heartbeat message is sent to the bus in millisecond intervals Heartbeats are useful for detecting the presence or absence of a node on the network The default value is set to 1000ms Autostart When autostart is enabled the controller automatically enters the Operational Mode of CANopen The controller autostart is enabled by default Disabling the parameter will pre vent the
24. When entering a numerical value that value is checked against the allowed minimum and maximum range for that parameter If the entered value is lower than the minimum then the minimum value will be used instead if above the maximum then the maximum value will be used as the entered parameter Boolean parameters such as Enabled Disabled will appear as a two state menu list Some parameters like Commands or Actions have the option to apply to one or the other of the motor channels For this type of parameters next to the menu list are checkboxes one for each of the channels Checking one or the other tells the controller to which chan nel this input or action should apply 4j Encoder 1 No Action nee Motor Command RPM Feedback FIGURE 70 Parameter applying to one or more channels String parameters are entered in plain text and they are checked against the maximum number of characters that are allowed for that string If entering a string that is longer the string is truncated to the maximum number of allowed characters Automatic Analog and Pulse input Calibration Analog and Pulse inputs can be configured to have a user defined minimum maximum and center range These parameters can be viewed and edited manually by expanding the Range subnode The minimum maximum and center values can also be captured automatically by clicking on the Calibrate link 4 gt Analog Inputs 4 y Bint Cmd1 Conversion Type Rela
25. command 2 feedback mm mot1 16 mot2 32 Default Value All channels unused Example PINA 1 17 Sets Pulse channel 1 as command for motor 1 PLIN Pulse Linearity This parameter is used for applying an exponential or a logarithmic transformation on a pulse input There are 3 exponential and 3 logarithmic choices Exponential correction will make the commands change less at the beginning and become stronger at the end of the joystick movement The logarithmic correction will have a stronger effect near the start and lesser effect near the end The linear selection causes no change to the input Syntax PLIN cc nn PLIN cc Where cc Input channel number nn 0 linear no change 1 exp weak 2 exp medium 3 exp strong 4 log weak 5 log medium 6 log strong Default Value All channels linear PMAX Pulse Max Range This parameter defines the raw pulse measurement number that would be considered as the 1000 internal value to the controller By default it is set to 2000 which is the max pulse width of an RC radio pulse Syntax APMAX cc nn PMAX cc Where nn 0 to 65000us Default Value 2000us 206 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Pulse Input Configuration PMAXA Action at Pulse Max This parameter configures the action to take when the max value that is defined in PMAX is reached The list of action is the same as in the DINA digital i
26. even though the Power Control may be left floating whenever possi ble pull it to a 12V or higher voltage to keep the controller logic solidly On You may use a separate battery to keep the controller alive as the main Motor battery discharges The diode that is used to bring power from the main battery is excluded in some high volt age controller models For these controllers a separate voltage source must be provided externally to the Power Control input Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Controller Power The table below shows the state of the controller depending on the voltage applied to Power Control and VMot TABLE 1 Controller Status depending on Power Control and VMot Power Control input is And Main Battery connected to Voltage is Action Ground Any Voltage Controller is Off Required Off Configuration Floating OV Controller is Off Not Recom mended Off Configuration Floating 1 Between 7 and VMotMax Controller is On See VMotMax value in Power Stage is Active datasheet 7V to max Volts Below undervoltage threshold Controller is On Power Stage is Off 7V to max Volts Between undervoltage and Controller is On overvoltage limits Power Stage is Active Note1 High voltage controllers are off if Power Control is not connected to a power source Note All 3 ground are connected to each other inside the controller The two VMot
27. gt Output Driver GND FIGURE 15 Switch wiring to Inputs shared with Outputs For better noise immunity an external pull up resistor should be installed even though one is already present inside the controller Connecting Switches or Devices to direct Digital Inputs The controller Digital Inputs are high impedance lines with a pull down resistor built into the controller Therefore it will report an On state if unconnected and a simple switch as shown on Figure 16 is necessary to activate it When a pull up switch is used for better noise immunity an external pull down resistor should be installed even though one is already present inside the controller 5V Out 20kOhm 33kOhm Ground FIGURE 16 Pull up switch wirings to DIN pins 44 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 lIRoboteQ Connecting a Voltage Source to Analog Inputs A pull up resistor must be installed when using a pull down switch 5V Out 1K to 10K Ohm 20kOhm L 1 DIN 33kOhm Ground FIGURE 17 Pull down switch wirings to DIN pins Important Warning Do not activate an output when it is used as input If the input is connected directly to a positive voltage when the output is activated a short circuit will occur Always pull the input up via a resistor Connecting a Voltage Source to Analog Inputs Connecting sensors with variable voltage output to the controller is
28. ing Any of the controller s digital inputs can be used as a limit switch for any motor chan nel An alternate method is shown in Figure 52 This circuit uses Normally Closed limit switches in series on each of the motor terminals As the motor reaches one of the switches the lever is pressed cutting the power to the motor The diode in parallel with the switch allows the current to flow in the reverse position so that the motor may be restarted and moved away from that limit The diode polarity depends on the particular wiring and motor orientation used in the appli cation If the diode is mounted backwards the motor will not stop once the limit switch lever is pressed If this is the case reverse the diode polarity The diodes may be eliminated but then it will not be possible for the controller to move the motor once either of the limit switches has been triggered The main benefit of this technique is its total independence on the controller s electronics and its ability to work in practically all circumstances Its main limitation is that the switch and diode must be capable of handling the current that flows through the motor Note that the current will flow though the diode only for the short time needed for the motor to move away from the limit switches SW1 SW2 SOR Controller FIGURE 52 Safety limit switches interrupting power to motor Advanced Digital Motor Controllers User Manual 97 Closed Loop Rel
29. page 24 The fuse will be shared by the two output stages and therefore must be placed before the Y connection to the two power wires Fuse rating should be the sum of the expected cur rent on both channels Note that automotive fuses above 40A are generally slow will be of limited effectiveness in protecting the controller and may be omitted in high current appli cation The fuse will mostly protect the wiring and battery against after the controller has failed Important Warning Fuses are typically slow to blow and will thus allow temporary excess current to flow through them for a time the higher the excess current the faster the fuse will blow This characteristic is desirable in most cases as it will allow motors to draw surges during acceleration and braking However it also means that the fuse may not be able to protect the controller Advanced Digital Motor Controllers User Manual 27 Connecting Power and Motors to the Controller I RoboteQ Wire Length Limits The controller regulates the output power by switching the power to the motors On and Off at high frequencies At such frequencies the wires inductance produces undesirable effects such as parasitic RF emissions ringing and overvoltage peaks The controller has built in capacitors and voltage limiters that will reduce these effects However should the wire inductance be increased for example by extended wire length these effects will be amplified
30. pp point 1 to 5 in table nn power level in Allowed Range O to 10096 Example ASXC 150 SXC 2 62 SXC 3 75 SXC 4 87 SXC 5 100 Loads table with 5096 6296 7596 8796 10096 SXM Sepex Minimum Excitation Current This parameter sets the minimum current that must be measured in the field output for the armature channel to be enabled This is a safety feature to make sure that there is no cur rent flowing into the armature unless an excitation current is being detected Outputting current into the armature without excitation will cause serious damage without this protec tion Syntax SXM nn SXM Where nn current in Amps 10 Allowed Range 10 1 0A to 250 25 0A 222 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ CAN Specific Commands CAN Specific Commands CTPS CANOpen TPDO Send Rate Sets the send rate for each of the 4 TPDOs when CANOpen is enabled Syntax CTPS nn mm Where nn TPDO number 1 to 4 mm rate in ms Notes If mm 0 the TPDO is not transmitted Advanced Digital Motor Controllers User Manual 223 Commands Reference Robote 224 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IRo b oteQ System Requirements SECTION 17 Using the Roborun Configuration Utility A PC based Configuration Utility is available free of charge from Roboteq This program makes configuring and operati
31. the control ler will always be receiving pulses even with the transmitter off Using Sensors with PWM Outputs for Commands The controller s Pulse inputs can be used with various types of angular sensors that use contactless Hall technology and that output a PWM signal These type of sensors are increasingly used inside joystick and will perform much more reliably and typically with higher precision than traditional potentiometers The pulse shape output from these devices varies widely from one sensor model to another and is typically different than this of RC radios They have a higher repeat rate up to a couple of kHz The min and max pulse width can reach the full period of the pulse Care must therefore be exercised when selecting a sensor The controller will accommo date any pulsing sensor as long as the pulsing frequency does not exceed 250Hz The sen sor should not have pulses that become too narrow or disappear altogether at the extremes of their travel Select sensors with a minimum pulse width of 10us or higher Alternatively limit mechanically the travel of the sensor to keep the minimum pulse width within the acceptable range A minimum of pulsing must always be present Without it the signal will be considered as invalid and lost Pulses from PWM sensors can be applied to any Pulse input on the controller s connector Configure the input capture as Pulse or Duty Cycle A Pulse mode capture measures the On t
32. will use and becomes active upon reaching a previous desired position See Position Command Chaining on page 104 Syntax IAX nn mm Where nn motor channel mm acceleration value Note If omitted the command will be chained using the last used acceleration value B Set User Boolean Variable Set the state of user boolean variables inside the controller These variables can then be read from within a user MicroBasic script to perform specific actions Syntax IB nn mm Where nn variable number mm O or 1 state Note The total number of user variables depends on the controller model and can be found in the product datasheet Advanced Digital Motor Controllers User Manual 165 Commands Reference Robote BND Spektrum Radio Bind This command is a duplication of the BIND maintenance command See BIND Bind Spektrum Receiver on page 190 It is provided as a Real Time command as well in order to make it possible to initiate the Spektrum transmitter receiver bind procedure from within MicroBasic scripts Syntax IBND C Set Encoder Counters This command loads the encoder counter for the selected motor channel with the value contained in the command argument Beware that changing the controller value while operating in closed loop mode can have adverse effects Syntax IC nn mm Where nn motor channel mm counter value Example 1C2 1000 Loads 1000 in encoder counter 2 IC10 Clears e
33. 10 arr i 1 Next The previous example illustrates how to initialize array elements to 1 The following example illustrates how to use Evaluate to print even values from 0 10 inclusive For i 0 AndWhile i lt 10 Evaluate i 2 Print i n Next Advanced Digital Motor Controllers User Manual 149 MicroBasic Scripting Robote While Do Statements While End While Statement While condition lt block gt End While Example a 10 While a gt 0 Print a a An ac End While Print Loop ended with a a n Do While Loop Statement Do While condition lt block gt Loop The Do While Loop statement is the same as functionality of the While End While statement but uses a different syntax a 10 Do While a gt 0 Print a a n aa Loop Print Loop ended with a a n Do Until Loop Statement Do Until lt condition gt lt block gt Loop Unlike Do While Loop statement Do Until Loop statement exist the loop when the expression evaluates to true a 10 Do Until a 0 Print a a n d Loop Print Loop ended with a a n Do Loop While Statement Do lt block gt Loop While lt condition gt Do Loop While statement grantees that the loop block will be executed at least once as the condition is evaluated and checked after executing the block 150 Advanced Digital Motor Controller
34. 4 LEDState 2 5 LEDState 3 1 LEDState 4 3 LEDState 5 2 end if wait 10 goto top Found COMI COM2 CON2 is Open Firmware ID Roboteq v1 1 RCB500 05 24 2010 FIGURE 92 Scripting tab Edit Window The main window in this tab is used to enter the scripts The editor automatically changes the color and style of the entered text so that comments keywords commands and text strings are immediately recognizable The editor has vary basic text editing features needed to write source code More information on the scripting language and its capabili ties can be found in the MicroBasic Language Reference on page 143 Download to Device button Clicking on this button will cause the source code to be immediately interpreted in low level instructions that are understandable by the controller If no errors are found during the translation the code is automatically transferred in the controller s flash memory Build button Clicking on this button will cause the source code to be immediately interpreted in low level instructions that are understandable by the controller A window then pops up show ing the result of the translation The code is not downloaded into the controller This com mand is generally not needed It may be used to see how many bytes will be taken by the script inside the controller s flash Advanced Digital Motor Controllers User Manual 243 Using the Roborun Configuration Utility I RoboteQ
35. 58 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Operating the Controller in RC mode capture Which channel and which pin on the input connector depends on the controller model and can be found in the controller s datasheet Changing the input assignment is done using the PC Configuration utility See Pulse Inputs Configurations and Uses on page 68 Input RC Channel Configuration Internally the measured pulse width is compared to the reference minimum center and maximum pulse width values From this is generated a command number ranging from 1000 when the joystick is in the min position to 0 when the joystick is in the center posi tion to 1000 when the joystick is in the max position This number is then used to set the motor desired speed or position that the controller will then attempt to reach For best results reliability and safety the controller will also perform a series of correc tions adjustments and checks to the R C commands as described below Automatic Joystick Range Calibration For best control accuracy the controller can be calibrated to capture and use your radio s specific timing characteristics and store them into its internal Flash memory This is done using a simple calibration procedure described on page 66 Deadband Insertion The controller allows for a selectable amount of joystick movement to take place around the center position before a
36. Current and Motor current is given in the formula below Motor Current z Battery Current PWM Ratio Example If the controller reports 10A of battery current while at 1096 PWM the current in the motor is 10 0 1 100A Important Warning Do not connect a motor that is rated at a higher current than the controller Advanced Digital Motor Controllers User Manual 29 Connecting Power and Motors to the Controller Robote Power Regeneration Considerations When a motor is spinning faster than it would normally at the applied voltage such as when moving downhill or decelerating the motor acts like a generator In such cases the current will flow in the opposite direction back to the power source It is therefore essential that the controller be connected to rechargeable batteries If a power supply is used instead the current will attempt to flow back in the power supply during regeneration potentially damaging it and or the controller Regeneration can also cause potential problems if the battery is disconnected while the motors are still spinning In such a case the energy generated by the motor will keep the controller On and depending on the command level applied at that time the regenerated current will attempt to flow back to the battery Since none is present the voltage will rise to potentially unsafe levels The controller includes an overvoltage protection circuit to pre vent damage to the output transis
37. If there is any danger that a loss of motor control can cause damage or injury you must plan on that possibility and implement methods for stopping the motor independently of the controller operation Below is a list of failure categories their effect and possible ways to regain control or min imize the consequences The list of possible failures is not exhaustive and the suggested prevention methods are provided as examples for information only Important Safety Disclaimer Dangerous uncontrolled motor runaway condition can occur for a number of rea sons including but not limited to command or feedback wiring failure configura tion error faulty firmware errors in user MicroBasic script or in user program or controller hardware failure The user must assume that such failures can occur and must take all measures necessary to make his her system safe in all conditions The information contained in this manual and in this section in particular is pro vided for information only Roboteq will not be liable in case of damage or injury as a result of product misuse or failure Possible Failure Causes Dangerous unintended motor operation could occur for a number of reasons including but not limited to Failure in Command device Feedback sensors malfunction e Wiring errors or failure Advanced Digital Motor Controllers User Manual 33 Safety Recommendations IRo b oteQ e Controller configuration error
38. Integer Variable 1 S32 RO VAR page 187 02 Read User Integer Variable 2 03 Read User Integer Variable 3 S32 RO 04 Read User Integer Variable 4 05 Read User Integer Variable 5 S32 RO 06 Read User Integer Variable 6 07 Read User Integer Variable 7 S32 RO 08 Read User Integer Variable 8 09 Read User Integer Variable 9 OA Read User Integer Variable 10 OE Read User Integer Variable 14 OF Read User Integer Variable 15 0x2107 01 Read Encoder Motor Speed as S16 RO SR page 185 1 1000 of Max ch 1 02 Read Encoder Motor Speed as 1 1000 of Max ch 2 0x2108 01 Read Encoder Count Relative ch 1 S32 RO CR page 178 02 Read Encoder Count Relative ch 2 0x2109 01 Read Brushless Count Relative ch 1 S32 RO CBR page 177 02 Read Brushless Count Relative ch 2 Advanced Digital Motor Controllers User Manual 131 CANopen Interface Robote TABLE 16 Object Dictionary Data Command Type amp Reference Index Sub Entry Name Access amp Page 0x210A 01 Read BL Motor Speed in RPM ch 1 16 RO BS page 175 02 Read BL Motor Speed in RPM ch 2 Ox210B 01 Read BL Motor Speed as 1 1000 of Max S16 RO BSR page 175 ch 1 02 Read BL Motor Speed as 1 1000 of Max ch 2 Ox210C 01 Read Battery Amps ch 1 S16 RO BAY page 175 02 Read Battery Amps ch 2 Ox210D 01 Read Internal Voltages V Int U16 RO V page 186 02 Read Internal Voltages V
39. PriorityLevel Command Priority DFC ChNbr DefaultCommand Channel Default Command value ECHOF EchoOff None Disable Enable RS232 amp USB Echo RWD RS232 WdogTimeout None RS232 Watchdog 0 to disable TELS Telemetry String String Telemetry Startup String Advanced Digital Motor Controllers User Manual 195 Commands Reference I RoboteQ ACS Analog Center Safety This parameter enables the analog safety that requires that the input be at zero or centered before it can be considered as good This safety is useful when operating with a joystick and requires that the joystick be centered at power up before motors can be made to run Syntax ACS nn ACS Where nn 0 safety disabled 1 safety enabled Default Value 1 enabled AMS Analog within Min amp Max Safety This configuration is used to make sure that the analog input command is always within a user preset minimum and maximum safe value It is useful to detect for example that the wire connection to a command potentiometer is broken If the safety is enabled and the input is outside the safe range the Analog input command will be considered invalid The controller will then apply a motor command based on the priority logic See Command Priorities on page 114 Syntax AAMS nn AMS Where nn 0 disabled 1 enabled Default Value 1 enabled BRUN MicroBasic Auto Start This parameter is used to enable or disable the automatic MicroBa
40. RoboteQ The controllers are supplied with an Earth tab which permits earthing the metal case Con nect this tab to a wire connected to the Earth while the charger is plugged in the AC main or if the controller is powered by an AC power supply or is being repaired using any other AC equipment PC Voltmeter etc Avoid Ground loops when connecting I O devices note 6 When connecting a PC encoder switch or actuators on the I O connector be very careful that you do not create a path from the ground pins on the O connector and the battery minus terminal Should the controller s main Ground wires thick black be disconnected while the VMot wires thick red are connected high current would flow from the ground pins potentially causing serious damage to the controller and or your external devices e Do not connect a wire between the I O connector ground pins and the battery minus terminal Look for hidden connection and eliminate them Have a very firm and secure connection of the controller ground wire and the bat tery minus terminal e Do not use connectors or switches on the power ground cables Important Warning Do not rely on cutting power to the controller for it to turn Off if the Power Control is left floating If motors are spinning because the robot is pushed or because of inertia they will act as generators and will turn the controller On possibly in an unsafe state ALWAYS ground the Power Control wire termi
41. See Command Priorities on page 114 Controller Present Check The controller will reply with an ASCII ACK character 0x06 anytime it receives a ORY char acter 0x05 This feature can be used to quickly scan a serial port and detect the presence absence or disappearance of the controller The QRY character can be sent at any time even in the middle of a command and has no effect at all on the controller s normal oper ation 116 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Supported CAN Modes SECTION 13 CAN Networking on Roboteq Controllers Some controller models are equipped with a standard CAN interface allowing up to 127 controllers to work together on a single twisted pair network at speeds up to 1Mbit s Supported CAN Modes Three CAN operating modes are available on the CAN enabled Roboteq controllers 1 RawCAN 2 MiniCAN 3 CANopen RawCAN is a low level operating mode giving read and write access to CAN frames It is recommended for use in low data rate systems that do not obey to any specific standard CAN frames are typically built and decoded using the MicroBasic scripting language MiniCAN is greatly simplified subset of CANopen allowing within limits the integration of the controller into an existing CANopen network This mode requires MicroBasic scripting to prepare and use the CAN data CANopen is the full Standard from CAN in Automation CIA based
42. The controller supports 3 mixing algorithms with different driving characteristics The table below shows how each motor output responds to the two commands in each of these modes TABLE 8 Mixing Mode characteristics Input Mode 1 Mode 2 Mode 3 Throttle Steering M1 M2 M1 M2 M1 M2 0 0 0 0 0 0 0 0 0 300 300 300 300 300 300 300 0 600 600 600 600 600 600 600 0 1000 1000 1000 1000 1000 1000 1000 0 300 300 300 300 300 300 300 0 600 600 600 300 300 600 600 0 1000 1000 1000 1000 1000 1000 1000 300 300 600 0 600 0 522 90 300 600 900 300 900 300 762 120 300 1000 1000 700 1000 1000 1000 400 300 300 0 600 0 600 90 522 300 600 300 900 300 900 120 762 300 1000 700 1000 1000 1000 400 1000 600 300 900 300 900 300 708 480 600 600 1000 0 1000 200 888 360 600 1000 1000 400 1000 1000 1000 200 600 300 300 900 300 900 480 708 600 600 0 000 200 1000 360 888 600 1000 400 000 1000 1000 200 000 1000 300 1000 700 1000 400 900 000 1000 600 1000 400 1000 200 1000 1000 1000 1000 1000 0 1000 1000 1000 1000 1000 300 700 000 400 1000 1000 900 1000 600 400 000 200 1000 1000 000 1000 1000 0 000 1000 1000 1000 1000 Motor Channel Parameters User Selected Current Limit Settings The controller has current sensors at each of its output stages Every 1 ms this current is measured and a correction to the output
43. User Manual 193 Commands Reference I RoboteQ Set Read Configuration Commands These commands are used to set or read all the operating parameters needed by the con troller for its operation Parameters are loaded from EEPROM into RAM from where they are and then used every time the controller is powered up or restarted Important Notices The total number of configuration parameters is very large To simplify the configu ration process and avoid errors it is highly recommended to use the RoborunPlus PC utility to read and set configuration Some configuration parameters may be absent depending on the presence or absence of the related feature on a particular controller model Setting Configurations The general format for setting a parameter is the character followed by the command name followed by parameter s for that command These will set the parameter in the con troller s RAM and this parameter becomes immediately active for use The parameter can also be permanently saved in EEPROM by sending the EESAV maintenance command Some parameters have a unique value that applies to the controller in general For exam ple overvoltage or PWM frequency These configuration commands are therefore fol lowed by a single parameter APWM 180 Sets PWM frequency to 18 0 kHz OVL 400 Sets Overvoltage limit to 40 0V Other parameters have multiple value with typically one value applying to a different chan nel Mu
44. all sit uations where a motor is running while the power stage is off The figure below shows a protection circuit using an external contactor relay Controller On Off Switch PwrCtrl Ground Contactor Digital Out to 40V Max Emergency Disconnect 1 O Connector Ground FIGURE 12 Self protection circuit using contactor 38 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Self Protection against Power Stage Failure The controller must have the Power Control input wired to the battery so that it can oper ate and communicate independently of the power stage The controller s processor will then activate the contactor coil through a digital output configured to turn on when the No MOSFET Failure condition is true The controller will automatically deactivate the coil if the output is expected to be off and battery current is above 500mA to 2 5A depending on the controller model for more than 0 5s The contactor must be rated high enough so that it can cut the full load current For even higher safety additional precaution should be taken to prevent and to detect fused contac tor blades This contactor circuit will only detect and protect against damaged output stage condi tions It will not protect against all other types of fault Notice therefore the presence of an emergency switch in series with the contactor coil This switch should be operated manu ally or r
45. at a time The frame is sent immediately after the bytecount is entered and so it should be entered last Syntax ICS ee nn Where ee frame element 1 header 2 bytecount Advanced Digital Motor Controllers User Manual 119 CAN Networking on Roboteq Controllers I RoboteQ 3 to 10 dataO to data7 nn value Examples ICS15 Enter 5 in header ICS 32 Enter 2 in Data O ICS 43 Enter 3 in Data 1 ICS22 Enter 2 in bytecount Send CAN data frame Using MiniCAN Mode MiniCAN is greatly simplified subset of CANopen It only supports Heartbeat and fixed map Received Process Data Objects RPDOs and Transmit Process Data Objects TPDOs It does not support Service Data Objects SDOs Network Management NMT SYNC or other objects Transmitting Data In MiniCAN mode data to be transmitted is placed in one of the controller s available Inte ger or Boolean User Variables Variables can be written by the user from the serial USB using VAR for Integer Variables or B for Boolean Variables They can also be written from MicroBasic scripts using the setcommand VAR n and setcommand B n functions The value of these variables is then sent at a periodic rate inside four standard CANopen TPDO frames TPDO1 to TPDO4 Each of the four TPDOs is sent in turn at the time period defined in the SendRate configuration parameter Header TPDO1 0x180 NodelD TPDO2 0x280 NodelD TPDO3 0x380 NodelD TPDO4 0x480 NodelD
46. at a user selectable repeat rate See Query His tory Commands on page 188 Using the Controller with a Spektrum Receiver Some controller models can be connected directly to a miniature Spektrum receiver Using only 3 wires this interface will carry the information of up to 6 command joysticks with a resolution and precision that is significantly higher than traditional 1 5ms pulse signals The PC utility is used to map any of the 6 channels as a command for each motor Binding the receiver to the transmitter is done using the BIND maintenance command See Maintenance Commands on page 190 for details on the binding procedure Using the Controller in Serial USB RS232 Mode The serial mode allows full control over the controller s entire functionality The controller will respond a large set of commands These are described in detail in Serial RS232 USB Operation on page 111 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I Ro boteQ Basic Operation SECTION 5 I O Configuration and Operation This section discusses the controller s normal operation in all its supported operating modes Basic Operation The controller s operation can be summarized as follows Receive commands from a radio receiver joystick or a microcomputer e Activate the motor according to the received command e Perform continuous check of fault conditions and adjust actions accordingly Report real time
47. available Digital Output Action Output activation Typical Use No action Not changed by any internal controller Output may be activated using events Serial commands or user scripts Motor s is on When selected motor channel s has Brake release power applied to it Motor s is When selected motor channel s has Back up warning indicator reversed power applied to it in reverse direction Overvoltage When battery voltage above overlimit Shunt load activation Overtemperature When overtemperature limit exceeded Fan activation Warning buzzer Status LED When status LED is ON Place Status indicator in visible location Encoder Configurations and Use On controller models equipped with encoder inputs external encoders enable a range of precision motion control features See Connecting Optical Encoders on page 51 for a detailed discussion on how optical encoders work and how to physically connect them to the controller The diagram below shows the processing chain for each encoder input a Count Max Selectable Action Encoder MM 32 bit Input Bran up down Counter Selectable Action Use Speed in RPM Select Speed Measure pa Command Scalling Feedback Speed as o ry k of Max RPM Encoder PPR Max RPM FIGURE 41 Encoder input processing The encoder s two quadrature signals are processed to generate up and down counts depending on the rotation direction The counts are
48. be selected to stop all commands from being sent to the con troller When this is done only parameter reads are performed When commands are muted and if the watchdog timer is enabled the controller will detect a loss of commands arriving from the serial port and depending on the priorities it will switch back to the RC or Analog mode If a USB Joystick is connected to the PC and the Enable box is checked the slider will update in real time with the captured joystick position value This makes it possible to oper ate the motor with the joystick The Configure Joystick button lets you perform addi tional adjustments such as inverting and swapping joystick input Command JE A Mte Y E sik 128 Stop Enable 194 a Stop Config Sis papa FIGURE 87 Digital Analog and Pulse Input Monitoring The status of Digital inputs and the value Analog and Pulse can be monitored in real time Analog and Pulse inputs will update only if the selected channel is enabled The labels for the digital inputs digital outputs analog inputs and pulse inputs can be made to take the value that has been entered in the configuration tree as described in Input Output Label ing on page 231 Using a nickname for that signal makes it easier to monitor that informa tion Digital Output Activation and Monitoring The Digital output LEDs reflect the actual state of each of the controller s Output If an out put is not changed by the controller using
49. beyond the controller s capability to correct them This is particularly the case for the main battery power wires Important Warning Avoid long connection between the controller and power source as the added inductance may cause damage to the controller when operating at high currents Try extending the motor wires instead since the added inductance is not harmful on this side of the controller If the controller must be located at a long distance from the power source the effects of the wire inductance may be reduced by using one or more of the following techniques Twisting the power and ground wires over the full length of the wires Use the vehicle s metallic chassis for ground and run the positive wire along the sur face e Adda capacitor 10 000uF or higher near the controller Electrical Noise Reduction Techniques As discussed in the above section the controller uses fast switching technology to control the amount of power applied to the motors While the controller incorporates several cir cuits to keep electrical noise to a minimum additional techniques can be used to keep the noise low when installing the controller in an application Below is a list of techniques you can try to keep noise emission low Keep wires as short as possible Loop wires through ferrite cores e Add snubber RC circuit at motor terminals e Keep controller wires and battery enclosed in metallic body Battery Current vs Motor Cu
50. box will pop open to indicate that the configuration cannot be read The user is prompted to enter the key to unlock the controller and read the configuration a Obtain Lock Key SQ Device Unlock Key Remember device unlock key ire FIGURE 77 Controller unlock window Note that configuration can be set even when the controller is locked only read cannot be performed Configuration Parameters Grouping amp Organization The total number of configuration parameters is quite large While most system will oper ate well using the default values when change is necessary viewing and editing parame ters is made easy thanks to a logical graphical organization of these parameters inside collapsable tree lists The configuration tab contains two trees The left tree includes all parameters that deal with the Analog Digital Pulse I O encoder and communication The right tree includes all parameters related to the power drive section The exact content of the trees changes according to the controller that is attached to the PC Commands Parameters See Command Inputs Configuration and Safety on page 195 for details on this group of parameters In the commands menu we can set the command priorities the linearization or exponenti ation that must be performed on that input 4 Commands 4 3 Command Priorities Priority 1 RS232 Priority 2 Pulse Priority 3 None 4 YF Command Adjustments Linearity 1 Li
51. c peces KABANG bee e c D eec ce RR ee 157 S OPCatO hin RETE 157 Operati tatu x sex mach Veda x RON Re ex x ewan ated ede ce 157 S Operat RELIER 157 Operator AAP we oe a ne Dis atis 157 JS Open MAP PEPE ES 158 gea ODEIO as PA 158 Ss Operator RTL CH PR 158 Operator lessen mh mh 158 GetValue Sici emer REUTERS dais eee Baie Hones AA 158 SCECOMMMAN Gls aee t spa geri ect Dates farai Mahan a aO tracts Ace a RR 160 S tConfig GetConfig cse en rt he DNA FEET ES 161 SetTimerCount GetTimerCount celles nnn 162 SetTimerState GetTimerState llle eee 162 SECTION 16 Commands Reference cece eee ee eee nn 163 Commands Types iv cece e ee ee eee OK RO RR AG 163 R ntime commands aep eaa mca AG a a E GNG ACT A TR CRM n 163 Runtime queries eer RR A en ew ee ACA ee oe 163 Maintenance commands llle hh hh 163 Set Read Configuration commands eee eee eee eee 164 Runtime Commands zzilskaa kk wx xx GE RANG Aer Nannanaa 164 AC Set Acceleration us kaaga iawn nana es otal ewe ans 165 AX Next Acceleration saxa tee hor ear eens ans NIA 165 B Set User Boolean Variable ee ees 165 BND Spektrum Radio Bind 2 cece eee eee 166 CsSetEncoderCo nterS onere ened ere de Ere RR wena Rn en 166 CB Set Brushless Counter llle 166 CS CANISGIO a bet react oda baal rates acp APR ine Dra EE 166 DO Reset Individual Digital Out bits llle 167 D1 Set Individual Digital Ou
52. circuit cuts off the motors While this process should not be harmful to the controller it may be to the power supply unless one or more of the protective steps below is taken Use a power supply that will not suffer damage in case a voltage is applied at its output that is higher than its own output voltage This information is seldom pub lished in commercial power supplies so it is not always possible to obtain positive reassurance that the supply will survive such a condition Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Using the Controller with a Power Supply Avoid deceleration that is quicker than the natural deceleration due to the friction in the motor assembly motor gears load Any deceleration that would be quicker than natural friction means that braking energy will need to be taken out of the sys tem causing a reverse current flow and voltage rise See Important Warning on page 77 Place a battery in parallel with the power supply output This will provide a reservoir into which regeneration current can flow It will also be very helpful for delivering high current surges during motor acceleration making it possible to use a lower current power supply Batteries mounted in this way should be connected for the first time only while fully charged and should not be allowed to discharge The power supply will be required to output unsafe amounts of current if connected di
53. closed loop Position Relative and Count Position modes It determines the speed at which the motor should move from one position to the next This command requires two arguments the first to select the motor channel the second to set the velocity The motor channel may be omit ted in single channel controllers The velocity is set in actual RPMs in system with speed sensor encoder or brushless hall sensors In systems without speed sensors the velocity parameter will be relative to the Max RPM configuration parameter Syntax IS nn mm Where nn motor channel mm speed value in RPM Examples IS 2500 set motor1 position velocity to 2500 RPM IS 1 2500 set motor1 position velocity to 2500 RPM SX Next Velocity This command is used in Position Count mode It is similar to S except that it stores a velocity value in a buffer This value will become the next velocity the controller will use and becomes active upon reaching a previous desired position See Position Command Chaining on page 104 Syntax ISX nn mm Where nn motor channel mm velocity value Note If omitted the command will be chained using the last used velocity value VAR Set User Integer Variable This command is used to set the value of user variables inside the controller These vari ables can be then read from within a user MicroBasic script to perform specific actions The total number of variables depends on the controller model and can be found
54. controller from starting automatically after the reset occurs When disabled the controller can only be enabled when receiving a CANopen management command CAN Bus Pinout Depending on the controller model the CAN signals are located on the 15 pin female con nector or 9 pin male connector Refer to datasheet for details 8 1 FIGURE 61 DB15 Connector pin locations The pins on the DB15 connector are mapped as described in the table below TABLE 11 CAN Signals on DB15 connector Pin Number Signal Description 6 CAN L CAN bus low 7 CAN H CAN bus high FIGURE 62 DB9 Connector pin locations Advanced Digital Motor Controllers User Manual 125 CANopen Interface Robote TABLE 12 CAN Signals on DB9 connector The pins on the DB9 connector are mapped as described in the table below Pin Number Signal Description 2 CAN L CAN bus low 7 CAN H CAN bus high 8 1 15 9 FIGURE 63 DB15 Connector pin locations The pins on the DB15 connector are mapped as described in the table below TABLE 13 CAN Signals on DB15 connector Pin Number Signal Description 6 CAN_L CAN bus low 7 CAN_H CAN bus high CAN and USB Limitations On most controller models CAN and USB cannot operate at the same time On controllers equipped with a USB connector if simultaneous connection is not allowed the controller will enable CAN if USB is not conne
55. found in the product datasheet AIC Read Analog Input after Conversion Returns value of an Analog input after all the adjustments are performed to convert it to a command or feedback value Min Max Center Deadband Linearity If an input is disabled the query returns 0 Syntax AIC Reply AlC nn Where nn Converted analog input value 1000 range B Read User Boolean Variable Read the value of boolean internal variables that can be read and written to from within a user MicroBasic script It is used to pass boolean states between user scripts and a micro computer connected to the controller Syntax 7B nn Reply B bb Where nn boolean variable number bb 0 or 1 state of the variable Note The total number of user boolean variables varies from one controller model to another and can be found in the product datasheet 174 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Queries BA Read Battery Amps Measures and reports the Amps flowing from the battery Battery Amps are often lower than motor Amps Syntax BA cc Reply BA aa Where cc motor channel aa Amps 10 for each channel Examples O BA R BA 100 200 Notes Single channel controllers will report a single value Sepex controllers report a single value with the battery current for both the Armature and Field excitation Some power board units measure the Motor Amps and Calculate th
56. from the Hall Sensors can be used for closed loop speed operation without any additional hardware 88 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Speed Sensor and Motor Polarity Speed Sensor and Motor Polarity The tachometer or encoder polarity i e which rotation direction produces a positive or negative speed information is related to the motor s rotation speed and the direction the motor turns when power is applied to it In the Closed Loop Speed mode the controller compares the actual speed as measured by the tachometer to the desired speed If the motor is not at the desired speed and direc tion the controller will apply power to the motor so that it turns faster or slower until reached Important Warning The tachometer s polarity must be such that a positive voltage is generated to the controller s input when the motor is rotating in the forward direction If the polarity is inverted this will cause the motor to run away to the maximum speed as soon as the controller is powered and eventually trigger the closed loop error and stop If this protection is disabled there will be no way of stopping it other than pressing the emergency stop button or disconnecting the power Determining the right polarity is best done experimentally using the Roborun utility see Using the Roborun Configuration Utility on page 225 and following these steps 1 Configure the cont
57. in a buffer This value becomes active upon reaching a previous desired position and will become the next destination the controller will go to See Position Command Chaining on page 104 Syntax Where Example IPRX nn cc nn motor channel cc relative count position IP 1 5000 followed by PRX 1 10000 will cause motor to go to count position 5000 and upon reaching the destination move to position 5000 PX Next Go to Absolute Desired Position This command is similar to P except that it stores an absolute count value in a buffer This value will become the next destination the controller will go to and becomes active upon reaching a previous desired position See Position Command Chaining on page 104 Syntax Where Example IPX nn cc nn motor channel cc absolute count position IP 1 5000 followed by PX 1 10000 will cause motor to go to count position 5000 and upon reaching the destination move to position 10000 170 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Commands R MicroBasic Run This command is used to start stop and restart a MicroBasic script if one is loaded in the controller Syntax IR nn Where nn empty start resume script nn 1 same as above nn 0 stop script nn 2 reinitialize and start script S Motor Position Mode Velocity This runtime command accepts actual RPM values and works in the
58. in an electric vehicle equipped with a Key Switch where SW2 is a con tactor and the key switch energizes the SW2 coil then implement SW1 as a relay Connect the Key Switch to both coils of SW1 and SW2 so cutting off the power to the vehicle by the key switch and SW2 will set the main switch SW1 in the OFF position as well Connection for Safe Operation with Discharged Batteries note 1 The controller will stop functioning when the main battery voltage drops below 7V To ensure motor operation with weak or discharged batteries connect a second battery to the Power Control wire terminal via the SW1 switch This battery will only power the control ler s internal logic The motors will continue to be powered by the main battery while the main battery voltage is higher than the secondary battery voltage This option is valid on all controller models except the SDCxxxx Use precharge Resistor to prevent switch arcing note 2 Insert a 1K 0 5W resistor across the SW2 Emergency Switch This will cause the control ler s internal capacitors to slowly charge and maintain the full battery voltage by the time the SW2 switch is turned on and thus eliminate damaging arcing to take place inside the switch Make sure that the controller is turned Off with the Power Control wire grounded while the SW2 switch is off The controller s capacitors will not charge if the Power Control wire is left floating and arcing will then occur when the Emergency switch is
59. in the product datasheet Variables are signed 32 bit integers Syntax IVAR nn mm Where nn variable number mm value Advanced Digital Motor Controllers User Manual 171 Commands Reference I RoboteQ Runtime Queries Runtime queries can be used to read the value of real time measurements at any time dur ing the controller operation Real time queries are very short commands that start with followed by one to three letters In some instances queries can be sent with or without a numerical parameter Without parameter the controller will reply with the values of all channels When a numer ical parameter is sent the controller will respond with the value of the channel selected by that parameter Example Q T R T 20 30 40 Q T2 R T 30 All queries are stored in a history buffer that can be made to automatically recall the past 16 queries at a userselectable time interval See Query History Commands on page 188 Runtime queries can be sent from within a MicroBasic script using the getvalue function TABLE 20 Runtime Queries Command Arguments Description A nputNbr Read Motor Amps Al InputNbr Read Analog Inputs AIC nputNbr Read Analog Input after Conversion B Variable Number Read User Boolean Variable BA nputNbr Read Battery Amps BS None Read BL Motor Speed in RPM BSR None Read BL Motor Speed as 1 1000 of Max C Channel Read Absolute
60. main battery wires are also connected to each other internally However you must never assume that connecting one wire of a given battery potential will eliminate the need to connect the other Aavanced Digital Motor Controllers User Manual 23 Connecting Power and Motors to the Controller Robote Controller Powering Schemes Roboteq controllers operate in an environment where high currents may circulate in unex pected manners under certain condition Please follow these instructions Roboteq reserves the right to void product warranty if analysis determines that damage is due to improper controller power connection The example diagram on Figure 2 shows how to wire the controller and how to turn power On and Off All Roboteq models use a similar power circuit See the controller datasheet for the exact wiring diagram for your controller model F2 SW1 Main 1A On Off Switch 1A PwrCtrl Yellow White M1 Ground Black Motor 1 Green M1 Resistor 1K 0 5W White M2 Motor 2 Sw2 Emergency Green M2 Note 4 Contactor or Cut off Switch Ground Black Earth Tab Note 5 Ground Black 1 O Connector Note 6 Do not Connect FIGURE 2 Brushed DC controller powering diagram Mandatory Connections It is Imperative that the controller is connected as shown in the wiring diagram provided in the datasheet in order to ensure a safe and trouble free operation All connections shown as
61. manner that pulses are counted so that they can increment or decrement a position counter in the application Quadrature encoders have dual channels A and B which are electrically phased 90 apart Thus direction of rotation can be determined by monitoring the phase relationship between the two channels In addition with a dual channel encoder a fourtime multiplication of resolution is achieved by counting the rising and falling edges of each channel A and B For example an encoder that produces 250 Pulses per Revolu tion PPR can generate 1 000 Counts per Revolution CPR after quadrature A Channel J LYLY E Ir 1 Pulse 4 Transitions B Channel 4 Counts Gusarsiure H H i i H H i H ri H i H i i H x H E H Se AA Count Up Count Down FIGURE 26 Quadrature encoder output waveform The figure below shows the typical construction of a quadrature encoder As the disk rotates in front of the stationary mask it shutters light from the LED The light that passes through the mask is received by the photo detectors Two photo detectors are placed side by side at so that the light making it through the mask hits one detector after the other to produces the 900 phased pulses Advanced Digital Motor Controllers User Manual 51 Connecting Sensors and Actuators to Input Outputs Robote e LED light source a Rotating SAKA AY encoder disk Stationary mask pd Photodetector FIGURE 27 Typical quadra
62. one of the available automatic Output Triggers see DOA on page 200 clicking on the LED will cause the selected output to toggle On and Off Using the Chart Recorder A powerful chart recorder is provided for real time capture and plotting of operating param eters This chart can display up to eight operating parameters at the same time Each of the chart s channels has a pull down menu that shows all of the operating parameters that can be viewed and plotted The colors can be changed by clicking on the color icon and select ing another color When selecting a parameter to display this parameter will appear in the chart and change in real time The three boxes show a numerical representation of the actual value and the Min and Max value reached by this input Clicking on the Clear button for that channel 238 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IlRoboteQ resets the Min and Max The chart can be paused or it can be cleared and the recorded val ues can be saved in an Excel format for later analysis Off Encoder Count 1 Encoder Count 2 Motor Command 1 Motor Command 2 Motor Power 1 Capture Motor Power 2 soo np AA AA AA AA AA AA RP NUNT ME rr v Min Max Cr i F B uv 0 305 161 pe 80 E Y H Batt Amps 2 A oU B B Feedback 1 0 35 161 j J Feedback 2 Pal L Bl NCU Temp 0 54 5 J 1 F Heatsink Temp 1 20 M E B Heatsink Temp 2 40690 79721 163056 J S
63. operating data The diagram below shows a simplified representation of the controller s internal operation The most noticeable feature is that the controller s serial digital analog pulse and encoder inputs may be used for practically any purpose Configuration RS232 B SESS pe Configuration Configuration Command Priority Y Y Analog Inputs Input Capture Selection Commands Motor Output lt and Command Driver Motor Switchbox Outputs gt Pulse Inputs Feedback gt p Estop Limit Switches Digital Inputs d Digital Encoder Inputs Outputs Amps A Temperature Configuration Voltages FIGURE 33 Simplified representation of the controller s internal operation Advanced Digital Motor Controllers User Manual 63 VO Configuration and Operation IRoboteQ Practically all operating configurations and parameters can be changed by the user to meet any specific requirement This unique architecture leads to a very high number of possibili ties This section of the manual describes all the possible operating options Input Selection As seen earlier in the controller s simplified internal operating diagram on Figure 33 any input can be used for practically any purpose All inputs even when they are sharing the same pins on the connector are captured and evaluated by the controller Whether an input is used and what it is used for is set individually using the descriptions that follow I
64. or other measured parameters For exam ple motors can be made to move to different count values based on the status of pushbuttons and the reaching of switches on the path Adapt parameters at runtime MicroBasic Scripts can read and write most of the controller s configuration settings at runtime For example the Amps limit can be made to change during operation based on the measured heatsink temperature Create new functions Scripting can be used for adding functions or operating modes that may be needed for a given application For example a script can compute the motor power by mul tiplying the measured Amps by the measured battery Voltage and regularly send the result via the serial port for Telemetry purposes Autonomous operation MicroBasic Scripts can be written to perform fully autonomous operations For example the complete functionality of a line following robot can easily be written and fitted into the controller Script Structure and Possibilities Scripts are written in a Basic Like computer language Because of its literal syntax that is very close to the every day written English this language is very easy to learn and simple scripts can be written in minutes The MicroBasic scripting language also includes support for structured programming allowing fairly sophisticated programs to be written Several shortcuts borrowed from the C language are also included in the scripting lan guage and may be opt
65. other In more sophisticated systems the acceleration deceleration 98 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Operating in Closed Loop Tracking Mode and velocity can be changed on the fly using Serial USB commands or from within a MicroBasic script When using Encoders as feedback sensors the controller can accurately measure the speed and the number of motor turns that have been performed at any point in time The complete positioning algorithm can be performed with the parameters described above When using analog or pulse sensors as feedback the system does not have a direct way to measure speed or number of turns It is therefore necessary to configure an additional parameter in the controller which determines the number of motor turns between the point the feedback sensor gives the minimum feedback value 1000 to the maximum feedback value 1000 In the Closed Loop Relative Position mode the controller will compute the position at which the motor is expected to be at every millisecond in order to follow the desired accel eration and velocity profile This computed position becomes the setpoint that is compared with the feedback sensor and a correction is applied at every millisecond Operating in Closed Loop Tracking Mode In this mode the controller makes no effort to compute a smooth millisecond by millisec ond position trajectory Instead the current feedback pos
66. power level is applied if higher than the user pre set value Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Motor Channel Parameters The current limit may be set using the supplied PC utility The maximum limit is dependent on the controller model and can be found on the product datasheet The limitation is performed on the Motor current and not on the Battery current See Bat tery Current vs Motor Current on page 28 for a discussion of the differences Selectable Amps Threshold Triggering The controller can be configured to detect when the Amp on a motor channel exceed a userdefined threshold value and trigger an action if this condition persists for more than a preset amount of time The list of actions that may be triggered is shown in the table below TABLE 9 Possible Action List when Amps threshold is exceeded Applicable Action Channel Description No Action Input causes no action Safety Stop Selectable Stops the selected motor s channel until command is moved back to 0 or command direction is reversed Emergency stop All Stops the controller entirely until controller is powered down or a special command is received via the serial port This feature is very different than amps limiting Typical uses for it are for stall detection or soft limit switches When for example a motor reaches an end and enters stall condi tion the current wi
67. sensor transition and updates a 32 bit up down counter The number of counts per rev olution is computed as follows Counts per Revolution Number of Poles 6 The counter information can then be read via the Serial USB port or can be used from a MicroBasic script The counter can also be used to operate the brushless motor in a Closed Loop Position mode within some limits Advanced Digital Motor Controllers User Manual Brushless Motor Connections and Operation Robote 86 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Mode Description SECTION 8 Closed Loop Speed Mode This section discusses the controller s Closed Loop Speed mode Mode Description In this mode an analog or digital speed sensor measures the actual motor speed and com pares it to the desired speed If the speed changes because of changes in load the control ler automatically compensates the power output This mode is preferred in precision motor control and autonomous robotic applications The controller incorporates a full featured Proportional Integral Differential PID control algorithm for quick and stable speed control The closed loop speed mode and all its tuning parameters may be selected individually for each motor channel Tachometer or Encoder Wiring Digital Optical Encoders may be used to capture accurate motor speed This capability is only available on controllers f
68. set by the user typically 0 Advanced Digital Motor Controllers User Manual 55 Command Modes IIlRoboteQ Es ce ce ce jad Serial USB FIGURE 30 Controller s possible command modes In the Serial mode the mode is considered as active if commands starting with arrive within the watchdog timeout period via the RS232 or USB ports The mode will be consid ered inactive and the next lower priority level will be selected as soon as the watchdog timer expires Note that disabling the watchdog will cause the serial mode to be always active after the first command is received and the controller will never switch to a lower priority mode In the pulse mode the mode is considered active if a valid pulse train is found and remains present In analog mode the mode is considered active at all time unless the Center at Start safety is enabled In this case the Analog mode will activate only after the joystick has been cen tered The Keep within Min Max safety mode will also cause the analog mode to become inactive and thus enable the next lower priority mode if the input is outside of a safe range The example in Figure 30 shows the controller connected to a microcomputer a RC radio and an analog joystick If the priority registers are set as in the configuration below 1 Serial 2 Pulse 3 Analog then the active command at any given time is given in the table below TABLE 4 Priority resoluti
69. setting up virtual or soft limit switches This value together with the High Count Limit are also used in the position mode to determine the travel range when commanding the controller with a relative position command In this case the Low Limit Count is the desired position when a command of 1000 is received Syntax ELL cc nn ELL Where cc Channel number nn Counter value Default Value 20000 Example ELL 1 100000 Set encoder 1 low limit ELLA Encoder Low Limit Action This parameter lets you select what kind of action should be taken when the low limit count is reached on the encoder The list of action is the same as in the DINA digital input action list see DINA on page 199 Embedded in the parameter is the motor channel s to which the action should apply Advanced Digital Motor Controllers User Manual 209 Commands Reference I RoboteQ Syntax ELLA cc aa mm ELLA cc Where cc Input channel number aa DIN Action List mm mot1 16 mot2 32 Default Value 0 no action for each encoder EMOD Encoder Usage This parameter defines what use the encoder is for The encoder can be used to set com mand or to provide feedback speed or position feedback The use of encoder as feedback devices is the most common Embedded in the parameter is the motor to which the encoder is associated Syntax AEMOD cc aa mm EMOD cc Where cc Channel number aa 0 Unused 1 C
70. simply done by making a direct connection to the controller s analog inputs When measuring absolute voltages configure the input in Absolute Mode using the PC Utility See also ACTR Set Analog Input Center 0 Level on page 201 5V Internal Resistors and Converter 20kOhm AIN O 0 5V Source 33kOhm O Ground FIGURE 18 Voltage source connected to Analog inputs Advanced Digital Motor Controllers User Manual 45 Connecting Sensors and Actuators to Input Outputs Robote Connecting Potentiometers to Analog Inputs Potentiometers mounted on a foot pedal or inside a joystick are an effective method for giv ing command to the controller In closed loop mode a potentiometer is typically used to provide position feedback information to the controller Connecting the potentiometer to the controller is as simple as shown in the diagram on Figure 19 The potentiometer value is limited at the low end by the current that will flow through it and which should ideally not exceed 5 or 10mA If the potentiometer value is too high the analog voltage at the pot s middle point will be distorted by the input s resistance to ground of 53K A high value potentiometer also makes the input sensitive to noise particularly if wiring is long Potentiometers of 1K or 5K are recommended values 5V Internal Resistors and Converter 20kOhm 1K to 10K Ohm Pot Ground FIGURE 19 Potentiometer wirin
71. that can be used as the target of a branch statement such as GoTo GoSub or Return 144 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I Ro boteQ Introduction Variables Arrays Label declaration statements must appear at the beginning of a line Label declaration statements must always be followed by a colon as the following Print Label Print Hello World Label name should start with alphabetical character and followed by zero or more alphanu meric characters or underscore Label names cannot start with underscore Labels names cannot match any of Micro Basic reserved words Label names are case insensitive that is Print Label is identical to print label The scope of a label extends whole the program Labels cannot be declared more than once in the program Micro Basic contains only two types of variable Integer and Boolean in addition to arrays of these types Boolean and arrays must be declared before use but Integer variables may not be declared unless you use the Option Explicit compiler directive Option Explicit Variables can be declared using DIM keyword see Dim Variable Declaration on page 147 Variable name should start with alphabetical character and followed by zero or more alpha numeric characters or underscore Variable names cannot start with underscore Variable names cannot match any of Micro Basic reserved words Variable names are case insens
72. the DSUB 15 or 25 front connector For safe operation the driver stage voltage must be above 12V The 5V output will typically show the controller s internal regu lated 5V minus the drop of a diode that is used for protection and will be in the 4 7V range The battery voltage is monitored for detecting the undervoltage or overvoltage conditions Syntax V cc Reply V vdr vmot vbout Where vdr internal voltage in Volts 10 vmot main battery voltage in Volts 10 v5out 5V output on DSub connector in millivolts Examples Q V R V 135 246 4730 Q V 3 R V24730 186 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Queries VAR Read User Integer Variable Read the value of dedicated 32 bit internal variables that can be read and written to from within a user MicroBasic script It is used to pass 32 bit signed number between user scripts and a microcomputer connected to the controller Syntax VAR nn Reply VAR mm Where nn variable number mm variable value Note The total number of user integer variables varies from one controller model to another and can be found in the product datasheet Advanced Digital Motor Controllers User Manual 187 Commands Reference IRo boteQ Query History Commands Every time a Real Time Query is received and executed it is stored in a history buffer from which it can be recalled The buffer will store up to 1
73. the controller to a PC via the serial port and run a terminal emulation software Immediately after receiving the Firmware ID type and send r 0 to stop the script before it is actually launched Alternatively you may reload the controller s firmware Advanced Digital Motor Controllers User Manual 139 MicroBasic Scripting Robote Script Command Priorities When sending a Motor or Digital Output command from the script it will be interpreted by the controller the same way as a serial command RS232 or USB This means that the RS232 watchdog timer will trigger in if no commands are sent from the script within the watchdog timeout If a serial command is received from the serial USB port at the same time a command is sent from the script both will be accepted and this can cause conflicts if they are both relating to the same channel Care must be taken to keep to avoid for example cases where the script commands one motor to go to a set level while a serial command is received to set the motor to a different level To avoid this problem when using the Roborun PC utility click on the mute button to stop commands sending from the PC Script commands also share the same priority level as Serial commands Use the Com mand Priority Setting See Command Priorities on page 114 to set the priority of com mands issued from the script vs commands received from the Pulse Inputs or Analog Inputs MicroBasic Scripting Techniques
74. then summed inside a 32 bit counter The counter can be read directly using serial commands and or can be used as a position feedback source for the closed loop position mode 70 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IRo boteQ Hall Sensor Inputs The counter can be compared to user defined Min and or Max values and trigger action if these limits are reached The type actions are the same as these selectable for Digital Inputs and described in Digital Inputs Configurations and Uses on page 64 The count information is also used to measure rotation speed Using the Encoder Pulse Per Rotation PPR configuration parameter the output is a speed measurement in actual RPM that is useful in closed loop speed modes where the desired speed is set as a numer ical value in RPM using a serial command The speed information is also scaled to produce a relative number ranging from 1000 to 1000 relative to a userconfigured arbitrary Max RPM value For example with the Max RPM configured as 3000 a motor rotating at 1500 RPM will output a relative speed of 500 Relative speed is useful for closed loop speed mode that use Analog or Pulse inputs as speed commands Configuring the encoder parameters is done easily using the PC Configuration Utility See Encoder Parameters on page 234 for details Hall Sensor Inputs On brushless motor controllers the Hall Sensors that are used to switch power aroun
75. tion under all conditions SECTION 2 Safety Recommendations This section lists the possible motor failure causes and provides examples of prevention methods and possible ways to regain control over motor if such failures occur SECTION 3 Connecting Sensors and Actuators to Input Outputs This section describes all the types of inputs that are available on all controller models and describes how to attach sensors and actuators to them This section also describes the connection and operation of optical encoders Advanced Digital Motor Controllers User Manual 17 aika Robote SECTION 4 Command Modes The controller can be operated using serial analog or pulse commands This section describes each of these modes and how the controller can switch from one command input to another Detailed descriptions are provided for the RC pulse and Analog command modes and all their configurable options SECTION 5 I O Configuration and Operation This section details the possible use of each type of Digital Analog Pulse or Encoder inputs and the Digital Outputs available on the controller It describes in detail the software configurable options available for each I O type SECTION 6 Motor Operating Features and Options This section reviews all the configurable options available to the motor driver section It covers global parameters such as PWM frequency overvoltage or temperature based pro tection as well as motor channel specif
76. turned on Protection against Damage due to Regeneration notes 3 and 4 Voltage generated by motors rotating while not powered by the controller can cause seri ous damage even if the controller is Off or disconnected This protection is highly recom mended in any application where high motion inertia exists or when motors can be made to rotate by towing or pushing vehicle parking e Use the main SW1 switch on the Power Control wire terminal to turn Off and keep Off the controller Insert a high current diode Digikey P N 10A01CT ND to ensure a return path to the battery in case the fuse is blown Smaller diodes are acceptable as long as their sin gle pulse current rating is 20 Amp e Optionally use a Single Pole Dual Throw switch for SW2 to ground the controller power input when OFF If a SPDT switch cannot be used then consider extending the diode across the fuse and the switch SW2 Connect Case to Earth if connecting AC equipment note 5 If building a system which uses rechargeable batteries it must be assumed that periodi cally a user will connect an AC battery charger to the system Being connected to the AC main the charger may accidentally bring AC high voltage to the system s chassis and to the controller s enclosure Similar danger exists when the controller is powered via a power supply connected to the mains Advanced Digital Motor Controllers User Manual 25 Connecting Power and Motors to the Controller I
77. 00 c cece ees 218 ICAP PID Integral Caps sere cece ee eens 218 KD PID Differential Gain lle eee 218 KI PID Integral Gain eer ees ea ee RR n 219 Advanced Digital Motor Controllers User Manual Robote SECTION 17 KP PID Proportional Gain eee 219 MAC Motor Acceleration Rate seller eee 219 MDEC Motor Deceleration Rate aan 220 MMOD Operating Mode eeeelleeeee ee 220 MVEL Default Position Velocity nanananenarnrnnns 220 MXPF Motor Max Power Forward eee eee eee eee 220 MXPR Motor Max Power ReVerse 2 0 ee eens 221 MXRPM Max RPM Valu cece eee eens 221 MXTRN Turns between Limits eee ees 221 Sepex Specific Commands ssip es sama e eee eee eee nnn 222 SXC Sepex Motor Excitation Table 2 0 cece eee 222 SXM Sepex Minimum Excitation Current 0 0c eee eee eee 222 CAN Specific Commands 2 77 7 5 sc ee er rx E E ee ded kee es 223 CTPS CANOpen TPDO Send Rate cece eee eee eee eee 223 Using the Roborun Configuration Utility llle 225 System Requirements sea ses ir riaa era Rr ERR FREE eR 225 Downloading and Installing the Utility clle 225 The Roborun Interface 2 2 e cece eee eee n nnn nnn 226 Header Content asesi whee eee se Reed ea Roe eee eR ees e 227 Status Bar Content 12524 2404 cede Na ceed AER RAE ode iid ene 227 Program Launch and Controller Discovery elles 228 C
78. 00 to 1000 Default Value 0 Example ADFC 1 500 Sets motor command to 500 when no command source are detected ECHOF Enable Disable Serial Echo This command is used to disable enable the echo on the serial port By default the control ler will echo everything that enters the serial communication port By setting ECHOF to 1 commands are no longer being echoed The controller will only reply to queries and the acknowledgements to commands can be seen Syntax AECHOF nn ECHOF Where nn 0 echo is enabled 1 echo is disabled Default Value 0 enabled Examples ECHOF 1 Disable echo RWD Serial Data Watchdog This is the RS232 USB watchdog timeout parameter It is used to detect when the control ler is no longer receiving commands and switch to the next priority level The watchdog value is a number in ms 1000 1s The watchdog function can be disabled by setting this value to 0 The watchdog will only detect the loss of real time commands that start with 1 All other traffic on the serial port will not refresh the watchdog timer As soon as a valid command is received motor operation will resume at whichever speed motors were run ning prior to the watchdog timeout Syntax RWD nn RWD Where nn Timeout value in ms Allowed Range 0 to 65000 Default Value 1000 Examples ARWD 1000 Set watchdog to 1s ARWD 0 Disable watchdog TELS Telemetry String This parameter command lets you enter the telemetry
79. 013 I RoboteQ Object Dictionary Object Dictionary The CANopen dictionary shown in this section is subject to change Please contact Robo teq technical support for the latest Object Dictionary The Object Dictionary given in the table below contains the runtime queries and runtime commands that can be accessed with SDO PDO messages during controller operation TABLE 16 Object Dictionary Data Command Type amp Reference Index Sub Entry Name Access amp Page Runtime Commands 0x2001 01 Set Position ch 1 S32 WO P page 169 02 Set Position ch 2 0x2002 01 Set Velocity ch 1 S16 WO S page 171 02 Set Velocity ch 2 0x2003 01 Set Encoder Counter ch 1 S32 WO C page 166 02 Set Encoder Counter ch 2 0x2004 01 Set Brushless Counter ch 1 S32 WO CB page 166 02 Set Brushless Counter ch 2 0x2005 01 Set User Integer Variable 1 S32 WO VARY page 171 02 Set User Integer Variable 2 06 Set User Integer Variable 6 07 Set User Integer Variable 7 S32 WO 08 Set User Integer Variable 8 09 Set User Integer Variable 9 32 WO A Set User Integer Variable 10 B Set User Integer Variable 11 S32 WO C Set User Integer Variable 12 D Set User Integer Variable 13 S32 WO E Set User Integer Variable 14 F Set User Integer Variable 15 S32 WO 10 Set User Integer Variable 16 0x2006 01 Set Acceleration 1 ch 1 S32 WO AC page 165 0
80. 2 Set Acceleration 1 ch 2 0x2007 01 Set Deceleration 1 ch 1 S32 WO DC page 167 02 Set Deceleration 1 ch 2 0x2008 00 Set All Digital Out bits U8 WO DS page 167 0x2009 00 Set Individual Digital Out bits U8 WO D17 page 167 0x200A 00 Reset Individual Digital Out bits U8 WO DO page 167 Advanced Digital Motor Controllers User Manual 129 CANopen Interface I RoboteQ TABLE 16 Object Dictionary Data Command Type amp Reference Index Sub Entry Name Access amp Page Ox200B 01 Load Home Counter ch 1 U8 WO H page 169 02 Load Home Counter ch 2 0x200C 00 Emergency Shutdown U8 WO EX page 168 Ox200D 00 Release Shutdown U8 WO MG page 169 Ox200E 00 Stop in all modes U8 WO MS page 169 Ox200F 01 Set Pos Relative ch 1 S32 WO PR page 170 02 Set Pos Relative ch 2 0x2010 01 Set Next Pos Absolute ch 1 S32 WO PX page 170 02 Set Next Pos Absolute ch 2 0x2011 01 Set Next Pos Relative ch 1 S32 WO PRX page 170 02 Set Next Pos Relative ch 2 0x2012 01 Set Next Acceleration ch 1 32 WO AX page 165 02 Set Next Acceleration ch 2 0x2013 01 Set Next Deceleration ch 1 32 WO DX page 168 02 Set Next Deceleration ch 2 0x2014 01 Set Next Velocity ch 1 S32 WO SX page 171 02 Set Next Velocity ch 2 0x2015 01 Set User Bool Variable 1 S32 WO B7 page 165 02 Set User Bool Variable 2 07 Set User Bool Variable 7 08 Set Use
81. 5 BSR Read BL Motor Speed as 1 1000 of Max lees 175 C Read Encoder Counter Absolute llle eee 176 CAN Read Raw CAN frame eee eee rns 176 CB Read Absolute Brushless Counter 2 cece eee eee 176 CBR Read Brushless Count Relative llle 177 CF Read Raw CAN Received Frames Count 2 00000 cree eens 177 CIA Read Internal Analog Command llle 177 CIP Read Internal Pulse Command leeren 177 CIS Read Internal Serial Command aaa 178 CR Read Encoder Counter Relative aaa 178 D Read Digital Inputs eee 178 DI Read Individual Digital Inputs llle 178 DO Read Digital Output Status leeren 179 DR Read Destination Reached leere 179 E Read Closed Loop Etrors suu home chia PDA ec einge EDNA ANA 179 F Read Feedback Ini isch er GR RR rece nee es 180 FF Read Fault Flagras cxx RR Roe Re nci mnn cR ee 180 FID Read Firmware ID RR RR m Rx 180 FM Read Runtime Status Flag aaa 180 FS Read Status Flag csc aa mk wee RR Y ne 181 K Read Spektrum Receiver llle 181 LK Read Lock Status seller lr err RT 182 M Read Motor Command Applied elles 182 MA Read MEMS Accelerometers cece eee ee eee eee 182 MGD Read Magsensor Track Detect cece 183 MGM Read Magsensor Markers 1 0000 e eee eee eee eee 183 MGS Read Magsensor StatuS 0c
82. 6 queries If more than 16 queries are received the new one will be added to the history buffer while the firsts are removed in order to fit the 16 query buffer Queries can then be called from the history buffer using manual commands or automati cally at user selected intervals This feature is very useful for monitoring and telemetry Additionally the history buffer can be loaded with a set of user selected queries at power on so that the controller can automatically issue operating values immediately after power up See TELS Telemetry String on page 198 for detail on how to set up the startup Telemetry string A command set is provided for managing the history buffer These special commands start with a character TABLE 21 Query History Commands Command Description Send the next value Stop automatic sending C Clear buffer history nn Start automatic sending Send Next History Item Stop Automatic Sending A alone will call and execute the next query in the buffer If the controller was in the pro cess of automatically sending queries from the buffer then receiving a will cause the sending to stop When a query is executed from the history buffer the controller will only display the query result e g A 10 20 It will not display the query itself Syntax Reply Qa Where QQ is reply to query in the buffer C Clear Buffer History This command
83. 8 49 56 57 64 Byte and Bit Ordering nteger Variables are loaded from frame with the Least Significant Byte first Example a frame with data as 0x78 0x56 0x34 0x12 will load in an Integer Variable as 0x12345678 Boolean Variables are loaded from a frame as shown in the table above with the lowest Boolean Variable occupying the least significant bit of each byte Example a received byte of 0x01 will set Boolean Var 33 and clear Vars 34 to 40 MiniCAN Usage Example MiniCAN can only be used with the addition of MicroBasic scripts that will give a meaning to the general variables in which the CAN data are stored The following simple script uses VARI that is transported in RPDO1 as the incoming motor command and puts the Motor Amp VAR9 so that it is sent in TPDO1 Lop speed getvalue _VAR 9 setcommand _G 1 speed motor_amp getvalue _A 1 setcommand _VAR 1 motor_amps wait 10 goto top Note This script does not check for loss of communication on the CAN bus It is provided for information only Advanced Digital Motor Controllers User Manual 121 CAN Networking on Roboteq Controllers Robote 122 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Use and benefits of CANopen SECTION 14 CANopen Interface This section describes the configuration of the CANopen communication protocol and the commands accepted by the controller using the
84. 8V Correction is applied so that an input voltage measured to be the same as the 5V Output voltage is reported at 5 0V The raw Analog capture then goes through a series of processing shown in the diagram below Min Max Center Deadband Exponent Use Select Analog Command Input a v m E pa Feedback H Ano Max Selectable Action Selectable Action FIGURE 34 Analog Input processing chain Advanced Digital Motor Controllers User Manual 65 VO Configuration and Operation Robote Analog Min Max Detection An analog input can be configured so that an action is triggered if the captured value is above a user defined Maximum value and or under a user defined Minimum value The actions that can be selected are the same as these that can be triggered by the Digital Input See the list and description in Table 5 Digital Input Action List on page 64 Min Max and Center adjustment The raw analog capture is then scaled into a number ranging from 1000 to 1000 based on user defined Minimum Maximum and Center values for the input For example setting the minimum to 500mv the center to 2000mV and the maximum to 4500mV will produce the output to change in relation to the input as shown in the graph below Output 1000 min Analog Capture ctr max Voltage 17 1000 FIGURE 35 Analog Input processing chain This feature allows to capture command or feedback value
85. B Encoder or Hall Sensor Feedback On brushless motors system equipped with optical encoders this parameter lets you select the encoder or the brushless hall sensors as the source of speed or position feed back Encoders provide higher precision capture and should be preferred whenever possi ble Syntax ABLFB nn BLFB Where nn 0 hall sensors feedback 1 encoder feedback Default Value O hall sensor BLL Brushless Counter Low Limit This parameter allows you to define a minimum brushless count value at which the control ler will trigger an action when the counter dips below that number This feature is useful for setting up virtual or soft limit switches This value together with the High Count Limit are also used in the position mode to determine the travel range when commanding the controller with a relative position command In this case the Low Limit Count is the desired position when a command of 1000 is received Syntax BLL nn BLL Where nn Counter value Default Value 2000 Example BLL 10000 Set brushless counter low limit BLLA Brushless Counter Low Limit Action This parameter lets you select what kind of action should be taken when the low limit count is reached on the hall sensor counter of brushless motors The list of action is the same as in the DINA digital input action list See DINA on page 199 Embedded in the parameter is the motor channel s to which the action should apply Sy
86. Bat U16 RO 03 Read Internal Voltages V 5Vout U16 RO 0x210E 00 Read All Digital Inputs U32 RO D7 page 178 Ox210F 01 Read Case 4 Internal Temperatures S8 RO T page 185 MCU Temperature 02 Read Case amp Internal Temperatures ch 1 03 Read Case amp Internal Temperatures ch 2 S8 RO 0x2110 01 Read Feedback ch 1 16 RO F page 180 02 Read Feedback ch 2 S16 RO 0x2111 00 Read Status Flags U8 RO FS page 181 0x2112 00 Read Fault Flags U8 RO FF page 180 0x2113 00 Read Current Digital Outputs U8 RO DO page 179 0x2114 01 Read Closed Loop Error ch 1 S32 RO E page 179 02 Read Closed Loop Error ch 2 0x2115 01 Read User Bool Variable 1 S32 RO B7 page 174 02 Read User Bool Variable 2 03 Read User Bool Variable 3 04 Read User Bool Variable 4 05 Read User Bool Variable 5 06 Read User Bool Variable 6 07 Read User Bool Variable 7 08 Read User Bool Variable 8 09 Read User Bool Variable 9 S32 RO 1E Read User Bool Variable 30 1F Read User Bool Variable 31 20 Read User Bool Variable 32 0x2116 01 Read Internal Serial Command ch 1 S32 RO CIS page 178 02 Read Internal Serial Command ch 2 132 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Object Dictionary TABLE 16 Object Dictionary Data Command Type amp Reference
87. CANopen protocol It will help you to enable CANopen on your Roboteq controller configure CAN communication parameters and ensure efficient operation in CANopen mode The section contains CANopen information specific to Roboteq controllers Detailed infor mation on the physical CAN layer and CANopen protocol can be found in the DS301 docu mentation Use and benefits of CANopen CANopen protocol allows multiple controllers to be connected into an extensible unified network Its flexible configuration capabilities offer easy access to exposed device parame ters and real time automatic cyclic or event driven data transfer The benefits of CANopen include e Standardized in EN50325 4 e Widely supported and vendor independent Highly extensible e Offers flexible structure can be used in a wide variety of application areas Suitable for decentralized architectures Wide support of CANopen monitoring tools and solutions Advanced Digital Motor Controllers User Manual 123 CANopen Interface IRo b oteQ CAN Connection Other Controller Controller CAN Device CANH 120 Ohm 120 Ohm Termination Resistor CANL FIGURE 60 CAN connection Connection to a CAN bus is as simple as shown on the diagram above 120 Ohm Termina tion Resistors must be inserted at both ends of the bus cable CAN network can be up to 1000m long See CAN specifications for maximum length at the various bit rates CAN Bus Configuration
88. Controller Volt 0 Bl Battery Volts 40692 79717 163060 4 i 5V Output 6x10 bas 20 endis E Speed 1 m E E Speed 2 40 n Speed 1 RPM mm 4 Speed 2 RPM 60 m m E Pause J Clear Chart 100 yg D a ig 1 1 1 1 1 D 1 1 1 B Gearlog FIGURE 88 Chart recorder Handles on the left vertical axis may be used to zoom in a particular vertical range Simi lar handles on the horizontal axis can be used to change the scrolling speed of the chart Aavanced Digital Motor Controllers User Manual 239 Using the Roborun Configuration Utility Robote Console Tab The console tab is useful for practicing low level commands and viewing the raw data exchanged by the controller and the PC The Console tab also contains the buttons for per forming field updates of the controller Text Mode Commands Communication The console mode allows you to send low level commands and view the raw controller responses Ten text fields are provided in which you can type commands and send them in any sequence by clicking on the respective Send button All the traffic that is exchanged by the controller and the PC is logged in the console box on the right It is then possible to copy that information and paste it into a word processor or an Excel spreadsheet for further analysis The Stop button sends the command to the controller and will stop the automatic query updating if it is currently active
89. ECTION 11 SECTION 12 SECTION 13 PID Tuning Differences between Position Relative and Position Tracking 101 Closed Loop Count Position Mode eee eee eee 103 Preparing and Switching to Closed LOOP 1 cece eee eee eee 103 Count Positiori CommandS ias ir mr ebay ARR ee EY ew wae 103 Position Command Chaining 2 2 0 aa 104 PID TUNING SG sec o KIA AN PRN GAAN 105 Closed Loop Torque Mode Kan ERR ERR ee ee ee 107 Torque Mode Description sse enn rh hh RR ERR 107 Torque Mode Selection Configuration and Operation 108 Torque Mode TUNING annm hm hme xn hh Rh RR R OR BAR RC Aen RR 108 Configuring the Loop Error Detection llle 108 Torque Mode LimitatiOriss na ux uomen mmis Rose kw x x xc RR x GR Ca e Rene 108 Torque Mode Using an External Amps Sensor l lleeeeeer 109 Serial RS232 USB Operation sassi cee eee rn 111 Use and benefits of Serial Communication 0 0 cee eee 111 Seral Port ConfIQgUratlOr sasssa ethan weeks ncn ceo RR XO Meade dks 112 Connector RS232 Pin Assignment llle 112 Cabl contiguratioric os sm ws e prir Rx RR x DRE EDan EE ees 112 Extending the RS232 Cable 2 lo RR hn 113 USB Cornfiguratior sese prr Seal atin un SERRE IUe a REAL Gees 114 Comirmand PrIONEIGSss a aU m er Meanie on e RUN RS NA HANNA 114 USB vs Serial Communication Arbitration 2 0 6 0 cee ee 114 CAN Corrmantads s a3 20445 pores RW opis eio km mmi ced 114 Script generated Comman
90. Encoder Count CAN Variable Number Read Raw CAN frame CB None Read Absolute Brushless Counter CBR None Read Brushless Count Relative CF Channel Read Raw CAN Received Frames Count CIA Channel Read Internal Analog Command CIP Channel Read Internal Pulse Command CIS Channel Read Internal Serial Command CR Channel Read Encoder Count Relative D InputNbr Read All Digital Inputs D InputNbr Read Individual Digital Inputs DO None Read Current Digital Outputs DR Channel Read Destination Reached E None Read Closed Loop Error F None Read Feedback 172 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Runtime Queries TABLE 20 Runtime Queries Command Arguments Description FF None Read Fault Flags FID None Read Firmware ID String FM Channel Reading Runtime Status of Each Motor FS None Read Status Flags K Channel Read Spektrum Receiver LK None Read Lock status M Channel Read Actual Motor Command MA Sensor Number Read MEMS Accelerometers MGD None Read Magsensor Track Detect MGM Channel Read Magsensor Markers MGS None Read Magsensor Status MGT Channel Read Magsensor Track Position Channel Read Applied Power Level InputNbr Read Pulse Inputs PIC Channel Read Pulse Input after Conversion S Channel Read Encoder Motor Speed in RPM SR Channel Read Encoder Motor Speed as 1 1000 of Max T Sensor Nu
91. IN cc nn CLIN cc Where cc Motor channel number nn 0 linear no change exp weak exp medium exp strong log weak log medium log strong DO RB ON Default Value All channels linear Example CLIN 1 1 Sets linearity for channel 1 to exp weak CPRI Command Priorities This parameter contains up to 3 variables 4 on controllers with Spektrum radio support and is used to set which type of command in priority the controller will respond to and in which order The first item is the first priority second second priority third third priority Each priority item is then one of the three four command modes Serial Analog Spek trum or RC Pulse See Command Priorities on page 114 Syntax CPRI pp nn CPRI pp Where pp priority rank 0 1 or 2 nn 0 disabled 1 Serial 2 RC 3 Analog Default Value priority 1 2 RC priority 2 RS232 USB priority 3 2 Disabled Examples CPRI 1 2 Set Serial as first priority CPRI 2 Read what mode is second priority DFC Default Command value The default command values are the command applied to the motor when no valid com mand is fed to the controller It is the last priority item in the Command Priority mecha nism See Command Priorities on page 114 Syntax DFC cc nn DFC Advanced Digital Motor Controllers User Manual 197 Commands Reference I RoboteQ Where cc Channel number nn command value Allowed Range 10
92. Input Max PMIN InputNbr Min InputNbr Pulse Min PMINA InputNbr Action InputNbr Action on Pulse Input Min PMOD InputNbr Mode InputNbr Pulse Input Mode PPOL InputNbr Polarity InputNbr Pulse Input Polarity PCTR Pulse Center Range This defines the raw value of the measured pulse that would be considered as the 0 value inside the controller The default value is 1500 which is the center position of the pulse in the RC radio mode Syntax PCTR cc nn PCTR cc Where nn 0 to 65000us Default Value 1500us PDB Pulse Input Deadband This sets the deadband value for the pulse capture It is defined as the percent number from 0 to 50 and defines the amount of movement from joystick or sensor around the center position before its converted value begins to change Syntax PDB cc nn PDB cc Where cc Pulse channel number nn Deadband in 96 Allowed Range 0 to 5096 Default Value 096 Advanced Digital Motor Controllers User Manual 205 Commands Reference I RoboteQ PINA Pulse Input Use This parameter selects whether an input should be used as a command feedback position feedback or left unused Embedded in the parameter is the motor channel that this com mand or feedback should act on Feedback can be position feedback if potentiometer is used or speed feedback if tachometer is used Syntax PINA cc nn mm PINA cc Where cc Input channel number nn 0 unused 1
93. Min Max parameter for the sensor input so that a value of 1000 to 1000 is produced at both ends of the sensor travel Error Detection and Protection The controller will detect large tracking errors due to mechanical or sensor failures and shut down the motor in case of problem in closed loop speed or position system The detection mechanism looks for the size of the tracking error desired position vs actual position and the duration the error is present Three levels of sensitivity are provided in the controller configuration 1 250ms and Error 100 2 500ms and Error gt 250 3 1000ms and Error 500 When an error is triggered the motor channel is stopped until the error has disappeared the motor channel is reset to open loop mode The loop error can be monitored in real time using the Roborun PC utility Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Adding Safety Limit Switches Adding Safety Limit Switches The Position mode depends on the position sensor providing accurate position information If the sensor is damaged or one of its wires is cut the motor may spin continuously in an attempt to reach a fictitious position In many applications this may lead to serious mechanical damage To limit the risk of such breakage it is recommended to add limit switches that will cause the motor to stop if unsafe positions have been reached independent of the sensor read
94. NA ANING e n md OEE NAA ee 243 Download to Device button leer 243 Build DUON i aca ae e xa dec CHE d C Je CR Rc 243 Simulation DUTON sedia pae ea RR RR RR RU dawned Gone wna n 244 Executing Scripts maa EEEG RENE ER RUP ERR wee ac 244 Advanced Digital Motor Controllers User Manual Robote 16 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Refer to the Datasheet for Hardware Specific Issues Introduction Refer to the Datasheet for Hardware Specific Issues This manual is the companion to your controller s datasheet All information that is specific to a particular controller model is found in the datasheet These include Number and types of I O Connectors pin out Wiring diagrams Maximum voltage and operating voltage e Thermal and environmental specifications Mechanical drawings and characteristics User Manual Structure and Use The user manual discusses issues that are common to all controllers inside a given product family Except for a few exceptions the information contained in the manual does not repeat the data that is provided in the datasheets The manual is divided in 17 sections organized as follows SECTION 1 Connecting Power and Motors to the Controller This section describes the power connections to the battery and motors the mandatory vs optional connections Instructions and recommendations are provided for safe opera
95. REUS ERE 55 Input Command Modes and PrioritieS 2 cece ee eee 55 USB vs Serial Communication Arbitration llle 57 CAN Commands Arbitration 2 0 00 enn 57 Commands issued from MicroBasic scripts 6 eee eee 57 Operating the Controller in RC mode lleeeeeeee nn 57 Input RC Channel Selections 3 iam RR xr ER mE Es 58 Input RC Channel Configuration llle 59 Automatic Joystick Range Calibration 0 0 cee eee 59 Deadband INSEMION s sess NG eek ee dete pee i t RE EXE 59 Command Exponentiation 2 cee ee ees 59 Reception Watchdog o oo esac e mtm RR Rr pene im Ane AUR RR a hm 59 Using Sensors with PWM Outputs for Commands lessen 60 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote SECTION 5 SECTION 6 Operating the Controller In Analog Mod 1 cee eee eee eee ees 60 Input Analog Channel Selection eee eee 60 Input Analog Channel Configuration a aaa 61 Analog Range Calibration ree 61 Using Digital Input for Inverting direction 61 Safe Start in Analog Mode 1 cee eet ees 61 Protecting against Loss of Command Device eese 61 Safety Switches ier EE E a ae ROREM REESE A RR 61 Monitoring and Telemetry in RC or Analog Modes 62 Using the Controller with a Spektrum Receiver 0 eee eee 62 Using the Controller in Serial USB RS232 Mode
96. Simulation button Clicking on the Simulate button will cause the source code to be interpreted and run in simulation mode on the PC This function is useful for simplifying script development and debug The simulator will operate identically to the real controller except for all commands that normally read or write controller configuration and operation data For these com mands the simulated program will prompt the programmer for values to be entered manu ally or output data to the console Executing Scripts Scripts are not automatically executed after the transfer To execute manually you must click on the Run tab and send the r command via the console Unless a script includes print statements it will run silently with no visible signs Clicking on r O will stop a script Ir or r 1 will resume a stopped script r 2 will clear all variables and restart a script 244 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013
97. Tachometer WIrING sss ssaa aadis ae RE eR RUN RE GROR E OR R E AUR ORE E NAG 88 Brushless Hall Sensors as Speed Sensors lees 88 Speed Sensor and Motor Polarity 2 llle eere 89 Controlling Speed in Closed Loop ssi kx e Er NG 90 Control Loop Description 2x dete mk eir DAG eR e RP dee 90 PID tuning in Speed Mode cesser RR eh ee ce ee 91 Error Detection and Protection cece ee eee nnn 92 Closed Loop Relative and Tracking Position Modes 93 Modes Descriptio ue emm ek xe hme RR Re eRe m Raw RS 93 Position Relative Mode llleeeeeee nh 93 Position Tracking Mode 2 2 0c cece eee eee eee 93 Selecting the Position Modes ccc cece ee eee eee eee ees 94 Position Feedback Sensor Selection 2 0 eee eee 94 Sensor MOUNTING s s isi NA isda eie msc EDU RE RA pb gw 94 Feedback Sensor Range Setting llle 95 Error Detection and Protection sse scele corr rrt RH 96 Adding Safety Limit Switches 00 c ee eee ee tee teens 97 Using Current Trigger as Protection cece ee eee 98 Operating in Closed Loop Relative Position Mode 98 Operating in Closed Loop Tracking Mode leeren 99 Position Mode Relative Control Loop Description 00a eee 99 PID tuning iri Position MOQO sss Rh hh Rh x nc hk eee n 100 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote SECTION 10 S
98. The controller will acknowledge commands in one of the two ways For commands that cause a reply such as a configuration read or a speed or amps queries the reply to the query must be considered as the command acknowledgement For commands where no reply is expected such as speed setting the controller will issue a plus character followed by a Carriage Return after every command as an acknowl edgment Command Error If a command or query has been received but is not recognized or accepted for any rea son the controller will issue a minus character to indicate the error If the controller issues the character it should be assumed that the command was not recognized or lost and that it should be repeated Advanced Digital Motor Controllers User Manual 115 Serial RS232 USB Operation IRo boteQ Watchdog time out For applications demanding the highest operating safety the controller should be config ured to automatically switch to another command mode or to stop the motor but other wise remain fully active if it fails to receive a valid command on its RS232 or USB ports or from a MicroBasic Script for more than a predefined period By default the watchdog is enabled with a timeout period of 1 second Timeout period can be changed or the watchdog can be disabled by the user When the watchdog is enabled and timeout expires the controller will accept commands from the next source in the prior ity list
99. Where Allowed Range Default Value Example cc Analog channel number nn Deadband in 96 0 to 50 5 on all inputs ADB 6 10 Sets Deadband for channel 6 at 1096 AINA Analog Input Usage This parameter selects whether an input should be used as a command feedback or left unused When selecting command or feedback it is also possible to select which channel this command or feedback should act on Feedback can be position feedback if potentiom eter is used or speed feedback if tachometer is used Embedded in the parameter is the motor channel to which the command or feedback should apply Syntax Where Default Value Example ALIN Analog Linearity AINA cc nn mm AINA cc cc Input channel number nn 0 unused 1 command 2 feedback mm mot1 16 mot2 32 All channels unused ARINA 1 17 Sets Analog channel 1 as command for motor 1 l e 17 1 command 16 motor 1 This parameter is used for applying an exponential or a logarithmic transformation on an analog input There are 3 exponential and 3 logarithmic choices Exponential correction will make the commands change less at the beginning and become stronger at the end of the joystick movement The logarithmic correction will have a stronger effect near the start and lesser effect near the end The linear selection causes no change to the input Syntax Where Default Value Example AALIN cc nn ALIN cc ce Input
100. acturer s datasheet to understand whether this number represents the number of pulses that are output by each channel during the course of a 3600 revolution rather than the total number of transitions on both channels during a 3600 revolution The second number is 4 times larger than the first one The formula below gives the pulse frequency at a given RPM and encoder resolution in Pulses per Revolution Pulse Frequency in counts per second RPM 60 PPR 4 Example a motor spinning at 10 000 RPM max with an encoder with 200 Pulses per Rev olution would generate Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Connecting the Encoder 10 000 60 200 4 2 133 3 kHz which is well within the 1MHz maximum supported by the encoder input An encoder with a 200 Pulses per Revolutions is a good choice for most applications A higher resolution will cause the counter to count faster than necessary and possibly reach the controller s maximum frequency limit An encoder with a much lower resolution will cause speed to be measured with less preci sion Connecting the Encoder Encoders connect directly to pins present on the controller s connector The connector pro vides 5V power to the encoders and has inputs for the two quadrature signals from each encoder The figure below shows the connection to the encoder 5V Controller GND ENC1B ENC2B FIGURE 28 Controller connect
101. ad Amps limit for all channels Reply ALIMz 750 650 ALIM 2 Read Amps limit for channel 2 Reply ALIM 650 Configuration parameters can be read from within a MicroBasic script using the getconfig function The setconfig function is used to load a new value in a configuration parameter Important Warning Configuration commands can be issued at any time during controller operation Beware that some configuration parameters can alter the motor behavior Change configurations with care Whenever possible change configurations while the motors are stopped Configuration Read Protection The controller may be locked to prevent the configuration parameters to be read Given the large number of possible configurations this feature provides effective system level copy protection The controller will reply to configuration read requests only if the read protec tion is unlocked If locked the controller will respond a character Command Inputs Configuration and Safety The commands in this group are used to choose which type of command the controller should respond to and enable safety features TABLE 24 Command Inputs Configuration and Safety Command Set Arguments Get Argument Description ACS Enable None Enable Ana Center Safety AMS Enable None Enable Ana Min Max Safety BRUN Enable None MicroBasic Auto Start CLIN ChNbr Linearity Channel Command Linearity CPRI PriorityNbr PriorityLevel
102. afety device is the emergency disconnect switch that is shown in the wiring diagram inside all controller datasheets and in the example diagram below SW1 Main On Off Switch PwrCtrl Yellow White M1 Ground Black Motor 1 Green M1 White M2 VMot Red piu Motor 2 Sw2 Emergency Green M2 Contactor or Cut off Switch Ground Black Earth Tab A Ground Black I O Connector Main FIGURE 8 Example powering diagram Brushed DC motor controller The switch must be placed visibly and be easy to operate Prefer mushroom emergency stop push buttons Make sure that the switches are rated at the maximum current that can be expected to flow through all motors at the same time FIGURE 9 Mushroom type Emergency Disconnect Switch 36 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 lIRoboteQ Remote Emergency Power Disconnect Remote Emergency Power Disconnect In remote controlled systems the emergency switch must be replaced by a high power contactor relay as shown in Figure 10 The relay must be normally open and be activated using an RC switch on a separate radio channel The receiver should preferably be powered directly from the system s battery If powered from the controller s 5V output keep in mind that in case of a total failure of the controller the 5V output may or may not be inter rupted Controller On Off Switch PwrCtrl Ground RC R
103. al logarithmic correction on the output The exponential or log correction is selected separately for each input using the PC Config uration Utility Use of Analog Input After the analog input has been fully processed it can be used as a motor command or if the controller is configured to operate in closed loop as a feedback value typically speed or position Each input can therefore be configured to be used as command or feedback for any motor channel s The mode and channel s to which the analog input applies are selected using the PC Configuration Utility Pulse Inputs Configurations and Uses The controller s Pulse Inputs can be used to capture pulsing signals of different types TABLE 7 Analog Capture Modes Catpure Mode Disabled Description Pulse capture is ignored forced to 0 Typical use Pulse Measures the On time of the pulse RC Radio 68 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Pulse Inputs Configurations and Uses TABLE 7 Analog Capture Modes Catpure Mode Description Typical use O iiis 1 L LLILLLLLELLLUI LLLULLLULU LLLLL NIXVLA LL MELIA DUAGALSUZL G GLUUI LUUS UIUUILLLLLULLULKXLUPUU ZOLLLILSAXIC ULLLULLLL LKALK L CLULLL BLGULZC LIZ OA AIALL LILRG I GOU Duty Cycle Measures the On time relative to the Hall position sensors and joysticks with full On Off period pulse output Frequen
104. al RS232 USB command See MMOD on page 220 The position mode can be set independently for each channel Position Feedback Sensor Selection The controller may be used with the following kinds of sensors e Potentiometers Hall effect angular sensors e Optical Encoders The first two are used to generate an analog voltage ranging from OV to 5V depending on their position They will report an absolute position information at all times Modern position Hall sensors output a digital pulse of variable duty cycle These sensors provide an absolute position value with a high precision up to 12 bit and excellent noise immunity PWM output sensors are directly readable by the controller and therefore are a recommended choice Optical encoders report incremental changes from a reference which is their initial position when the controller is powered up or reset Before they can be used for reporting position the motors must be moved in open loop mode until a home switch is detected and resets the counter Encoders offer the greatest positional accuracy possible Sensor Mounting Proper mounting of the sensor is critical for an effective and accurate position mode opera tion Figure 51 shows a typical motor gear box and sensor assembly Position Feedback Position Sensor Gear box FIGURE 51 Typical motor potentiometer assembly in Position Mode 94 Advanced Digital Motor Controllers User Manual Version 1 3 Sept
105. an be used in order to implement stall protection or cur rent based limit switches The Power Adjust sets the maximum power that will be applied to the output at 100 The maximum power can be different for the forward and reverse directions This feature can be used to limit the maximum speed in a given direction or to enable lower voltage motors to be used with the higher voltage battery The Acceleration parameter lets you set the Acceleration and Deceleration values In this tree also can be set the Operating Mode for that channel Open Loop Closed Loop Speed or Closed Loop Position 4 Motor Output 4 78 Amps Limits Amps Limit A 75 0 Amps Trigger A 75 0 Amps Trigger Action No Action 4 Power Adjust Max Power Fwd 100 Max Power Rev 100 4 Si Acceleration Acceleration ms 500 Decceleration ms 500 Operating Mode Open Loop Speed FIGURE 84 Motor Output parameters When operating in the Closed Loop the Closed Loop parameters let you set the closed loop parameters such as PID gain 4 T Closed Loop Parameters PID Mode Flat PID 4 Proportional Gain 2 0 PGain 0 2 0 PGain amp 25 2 PGain 50 2 PGain 75 2 PGain 100 D Integral Gain 2 0 b Differential Gain 2 0 Integrator Limit 72 100 io i O No io FIGURE 85 Closed Loop parameters 236 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IlRoboteQ Run Tab
106. annel MaxRPM Channel Motor RPM at 10096 MXTRN Channel MaxTurns Channel Number of Motor Turns between Limits ALIM Amp Limit This is the maximum Amps that the controller will be allowed to deliver to a motor regard less the load of that motor The value is entered in Amps multiplied by 10 The value is the Amps that are measured at the motor and not the Amps measured from a battery When the motor draws current that is above that limit the controller will automatically reduce the output power until the current drops below that limit Syntax ALIM cc nn ALIM cc Where cc Motor channel nn Amps 10 Allowed Range 10A to Max Amps rating in Product Datasheet Default Value 75 of Max Datasheet rating 216 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Motor Channel Configuration and Set Points Example ALIM 1 455 Set Amp limit for Motor 1 to 45 5A ATGA Amps Trigger Action This parameter sets what action to take when the Amps trigger is activated The list is the same as in the DINA digital input actions see DINA on page 199 Typical use for that feature is as a limit switch when for example a motor reaches an end and enters stall con dition the current will rise and that current increase can be detected and the motor be made to stop until the direction is reversed Embedded in the parameter is the motor chan nel s to which the action should ap
107. annel it applies Additional parameters let you set a number of Pulse Per Revolu tion Maximum Speed and actions to do when certain limit counts are reached 4 np Encoders 4 fp Encoder 1 Use Feedback 1 Pulses Rev 100 RPM 100 1000 Min Limit 2000000000 Action at Min No Action Max Limit 2000000000 Action at Max No Action FIGURE 81 Encoder parameters 234 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ Configuration Parameters Grouping amp Organization Digital Input and Output Parameters See Digital Input Output Configurations on page 199 for details on this group of parame ters For Digital inputs you can set the Active Level and select which action input should cause when it is activated and on which motor channel that action should apply 4 gt Digital Inputs 4 gt Dint Limt Active Level High Action No Action FIGURE 82 Digital Input parameters For Digital Output you can set the Active Level and the trigger source that will activate the Output Analog Input Parameters See Analog Input Configurations on page 201 for details on this group of parameters For Analog inputs all the parameters that can be selected include the enabling and conver sion type what this input should be used for and for which channel the input range limits the deadband and which actions to perform when the minimum or maximum values are reached Pulse Inpu
108. ary but it can be useful in order to compare the memory usage efficiency of one script compared to another Simulating Scripts Scripts can be ran directly on the PC in simulation mode Clicking on the Simulate button will cause the script to be built and launch a simulator in which the code is executed This feature is useful for writing testing and debugging scripts The simulator works exactly the same way as the controller with the following exceptions e Execution speed is different Controller configurations and operating parameters are not accessible from the sim ulator Controller commands cannot be sent from the simulator The four Timers operate differently in the simulator In the simulator any attempt to read a Controller configuration example Amps limit or a Controller Runtime parameter e g Volts Temperature will cause a prompt to be displayed for the user to enter a value Entering no value and hitting Enter will cause the same value that was entered last for the same parameter to be used If this is the first time the user is prompted for a given parameter O will be entered if hitting Enter with no data When a function in the simulator attempts to write a configuration or a command then the console displays the parameter name and parameter value in the console Script execution in the simulator starts immediately after clicking on the Simulate button and the console window opens Simulated scripts are stoppe
109. asic scripts When sending a Motor or Digital Output command from a MicroBasic script it will be interpreted by the controller the same way as a serial command RS232 or USB If a serial command is received from the serial USB port at the same time a command is sent from the script both will be accepted and this can cause conflicts if they are both relating to the same channel Care must be taken to keep to avoid for example cases where the script commands one motor to go to a set level while a serial command is received to set the motor to a different level Important Warning When running a script that sends motor command make sure you click Mute in the PC utility Otherwise the PC will be sending motor commands continuously and these will interfere with the script commands Script commands are also subject to the serial Watchdog timer and share the same priority level as Serial commands Use the Command Priorities on page 114 to set the priority of commands issued from the script vs commands received from the Pulse Inputs or Analog Inputs Operating the Controller in RC mode The controller can be directly connected to an R C receiver In this mode the speed or position information is contained in pulses whose width varies proportionally with the joy sticks positions The controller mode is compatible with all popular brands of RC transmit ters Advanced Digital Motor Controllers User Manual 57 Command Modes
110. at query is a single number which must be converted into binary in order to evaluate each of the individual status bits that compose it Syntax FF cc Reply FF f1 f2 2 f3 4 fn 2 Where f1 overheat f2 overvoltage f3 undervoltage f4 short circuit f5 emergency stop f6 Sepex excitation fault f7 MOSFET failure f8 startup configuration fault FID Read Firmware ID This query will report a string with the date and identification of the firmware revision of the controller Syntax FID Reply FID Firmware ID string Example O FID R FID Roboteq v1 2 RCB200 05 01 2012 FM Read Runtime Status Flag Report the runtime status of each motor The response to that query is a single number which must be converted into binary in order to evaluate each of the individual status bits that compose it Syntax FM nn Reply FM f1 f2 2 f3 4 fn 27 180 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Queries Where nn Motor channel f1 Amps Limit currently active f2 Motor stalled f3 Loop Error detected f4 Safety Stop active f5 Forward Limit triggered f6 Reverse Limit triggered f7 Amps Trigger activated Notes f2 f3 and f4 are cleared when the motor command is returned to 0 When f5 or f6 are on the motor can only be commanded to go in the reverse direction FS Read Status Flag Report the state of st
111. ative and Tracking Position Modes Robote Important Warning Limit switches must be used when operating the controller in Position Mode This will significantly reduce the risk of mechanical damage and or injury in case of dam age to the position sensor or sensor wiring Using Current Trigger as Protection The controller can be configured to trigger an action when current reaches a user configu rable threshold for more than a set amount of time This feature can be used to detect that a motor has reached a mechanical stop and is no longer turning The triggered action can be an emergency stop or a simulated limit switch Operating in Closed Loop Relative Position Mode This position algorithm allows you to move the motor from an initial position to a desired position The motor starts with a controlled acceleration reaches a desired velocity and decelerates at a controlled rate to stop precisely at the end position The graph below shows the speed and position vs time during a position move Position End Position Start Position Speed Time Position Mode Velocity Acceleration Deceleration Time FIGURE 53 When turning the controller on the default acceleration deceleration and velocity are parameters retrieved from the configuration EEPROM In most applications these parame ters can be left unchanged and only change in commands used to control the change from one position to the
112. ature Note The voltage values in this chart are provided for reference only and may vary based on the Thermistor model brand and the resistor precision It is recommended that you ver ify and calibrate your circuit if it is to be used for safety protection Advanced Digital Motor Controllers User Manual 49 Connecting Sensors and Actuators to Input Outputs Robote Using the Analog Inputs to Monitor External Voltages The analog inputs may also be used to monitor the battery level or any other DC voltage If the voltage to measure is up to 5V the voltage can be brought directly to the input pin To measure higher voltage insert two resistors wired as voltage divider The figure shows a 10x divider capable of measuring voltages up to 50V Ext Voltage IN 5V Internal Resistors and Converter 47kOhm i 20kOhm 4 7kOhm i 33kOhm Ground FIGURE 24 Battery voltage monitoring circuit Connecting Sensors to Pulse Inputs The controller has several pulse inputs capable of capturing Pulse Length Duty Cycle or Frequency with excellent precision Being a digital signal pulses are also immune to noise compared to analog inputs Connecting to RC Radios The pulse inputs are designed to allow direct connection to an RC radio without additional components Optional Power to Radio Controller Power R C Channel 1 n R C Channel 2 R C Radio laan MCU R C Radio Ground Con
113. ature is useful to protect the controller configuration from being copied by unauthorized people Syntax LK Reply LK ff Where ff 0 unlocked 1 locked M Read Motor Command Applied Reports the command value that is being used by the controller The number that is reported will be depending on which mode is selected at the time The choice of one com mand mode vs another is based on the command priority mechanism described at Com mand Priorities on page 114 In the RS232 mode the reported value will be the command that is entered in via the RS232 or USB port and to which an optional exponential correction is applied In the Analog and Pulse modes this query will report the Analog or Pulse input after it is being converted using the min max center deadband and linearity corrections This query is useful for viewing which command is actually being used and the effect of the correction that is being applied to the raw input Syntax M cc Reply M nn Where cc channel number nn command value used for each motor 0 to 1000 range Examples Q M R M 800 1000 Q M 1 R M 800 MA Read MEMS Accelerometers On controllers fitted with a 3 axis MEMs accelerometer this query can be used to read the value along each axis Syntax MA nn Reply MA mm 182 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Runtime Queries Where Examples nn
114. atus flags used by the controller to indicate a number of internal con ditions during normal operation The response to this query is the single number for all sta tus flags The status of individual flags is read by converting this number to binary and look at various bits of that number Syntax FS Reply FS f1 f2 2 f3 4 f2 Where f1 Serial mode f2 Pulse mode f3 Analog mode f4 Power stage off f5 Stall detected f6 At limit f7 Unused f8 MicroBasic script running On controller models supporting Spektrum radio mode the status flags are shifted as fol lows f1 Serial mode f2 Pulse mode f3 Analog mode f4 Spektrum mode f5 Power stage off f6 Stall detected f7 At limit f8 MicroBasic script running K Read Spektrum Receiver On controller models with Spektrum radio support this query is used to read the raw val ues of each of up to 6 receive channels When signal is received this query returns the value 0 Syntax K nn Where nn radio channel Advanced Digital Motor Controllers User Manual 181 Commands Reference Robote Reply K nn Where nn raw joystick value or O if transmitter is off or out of range LK Read Lock Status Returns the status of the lock flag If the configuration is locked then it will not be possible to read any configuration parameters until the lock is removed or until the parameters are reset to factory default This fe
115. ax ID1 nn Where nn output number Examples ID1 1 will turn ON output 1 DC Set Deceleration Same as AC but for speed changes from fast to slow Syntax IDC nn mm Where nn motor channel mm deceleration value in 0 1 RPM s Examples IDC 12000 Reduce Motor 1 speed by 200 RPM every second if speed is measured by encoder IDC 2 20000 Time from full power to stop is 0 5s if no speed sensors are present and Max RPM is set to 1000 DS Set all Digital Out bits The D command will turn ON or OFF one or many digital outputs at the same time The number can be a value from 0 to 255 and binary representation of that number has 1bit affected to its respective output pin Syntax IDS nn Where nn bit pattern to be applied to all output lines at once Examples IDS 03 will turn ON outputs 1 and 2 All others are off Advanced Digital Motor Controllers User Manual 167 Commands Reference I RoboteQ DX Next Deceleration This command is used in Position Count mode It is similar to DC except that it stores a deceleration value in a buffer This value will become the next deceleration the controller will use and becomes active upon reaching a previous desired position See Position Command Chaining on page 104 Syntax IDX nn mm Where nn motor channel mm acceleration value Note If omitted the command will be chained using the last used deceleration value EES Save Configuration in EEPROM This comma
116. bs upgrading testing and troubleshooting troller Configuration tab for setting all the different configuration parameters Run tab for testing and monitoring the status of the controller at runtime Console tab for performing a number of low level operations that are useful for Scripting tab for writing simulating and downloading custom scripts to the con 226 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ The Roborun Interface Header Content The header is always visible and contains an Emergency Stop button that can be hit at any time to stop the controller s operation Hitting the button again will resume the control ler operation The header also displays inside two text boxes the Controller type that has been detected Control Unit Identifies the processing unit used it the controller Controller Model Identifies the complete model number reference The View Pinout button will pop open a window showing the pinout of the detected controller model For each analog digital or pulse input output the table shows the default label e g DIN1 AIN2 or a user defined label e g Limit1 eStop User definition of label names for I O pins is done in the Configuration tab EdH Type Pinout S15 xi oes 15 16 17 18 19 20 21 22 23 24 Digital In DINI pine DIN4 DIN12 DIN14 DIN16 DINS oie
117. ce Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ User Manual Structure and Use SECTION 13 CAN Networking on Roboteq Controllers This section describes the RawCAN and MiniCAN operating modes available on CAN enabled Roboteg controllers SECTION 14 CANopen Interface This section describes the configuration of the CANopen communication protocol and the commands accepted by the controller operating in the CANopen mode SECTION 15 MicroBasic Scripting This section describes the MicroBasic scripting language that is built into the controller It describes the features and capabilities of the language and how to write custom scripts A Language Reference is provided SECTION 16 Commands Reference This section lists and describes in detail all configuration parameters runtime commands operating queries and maintenance commands available in the controller SECTION 17 Using the Roborun Configuration Utility This section describes the features and capabilities of the Roborun PC utility The utility can be used for setting changing configurations operate monitor the motors and I O edit sim ulate and run Microbasic scripts and perform various maintenance functions such as firm ware updates Advanced Digital Motor Controllers User Manual 19 Introduction Robote 20 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ P
118. channel number nn 0 linear no change 1 exp weak exp medium exp strong log weak log medium log strong DO 3 WN All channels linear ALIN 1 1 Sets linearity for channel 1 to exp weak 202 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Analog Input Configurations AMAX Set Analog Input Max Range This parameter sets the voltage that will be considered as the maximum command value The min max and center are useful to set the range of a joystick or of a feedback sensor Internally to the controller commands and feedback values are converted to 1000 0 1000 Syntax AAMAX cc nn AMAX cc Where nn 0 to 5000mV Default Value 4900mV Example AMAX 4 4500 Set Analog Input 4 Max range to 4500mV AMAXA Action at Analog Max This parameter selects what action should be taken if the maximum value that is defined in AMAX is reached The list of action is the same as these of the DINA see DINA on page 199 For example this feature can be used to create soft limit switches in which case the motor can be made to stop if the feedback sensor in a position mode has reached a maximum value Syntax AMAXA cc aa mm AMAXA cc Where ce Input channel number aa DIN Action List mm mot1 16 mot2 32 Default Value No action on all channels Example AAMAXA 3 34 Stops motor 2 AMIN Set Analog Input Min Range This parame
119. ched by the controller internally against the key that was entered with the LK command to lock the controller If the keys match the configuration is unlocked Syntax IUK secretkey Where secretkey 32 bit number 1 to 4294967296 Examples UK 12345 UK 2343567345 192 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Flash Card Maintenance Commands Flash Card Maintenance Commands This section describes the maintenance commands that may be used to read and manage the content of memory cards on controllers supporting MicroSD Cards The cards content is stored using the NTFS file format and can therefore also be plugged in a PC as well for reading writing the files TABLE 23 Flash Card Maintenance Commands Command Argument Description SDEL None Clear SD Card file SDIR Filename Read SD Card directory SREAD Filename Read SD Card file SDIR List Files Stored on Card This command displays the list of files that exist on the card Syntax SDIR Reply LOG000001 TXT LOG000002 TXT SREAD Read the Content of a File This command will dump on the console the text content of a specified file Syntax SREAD filename Reply Dump of all characters contained in the file onto the console screen SDEL Delete File Erase a file physically from the SD Card Syntax SDEL filename Reply if command was successful Advanced Digital Motor Controllers
120. cific number of counts using a userdefined acceleration velocity and deceleration profile Details on how to con figure and use this mode can be found in Closed Loop Count Position Mode on page 103 Closed Loop Tracking This modes uses the same feedback sensor mount as this of Figure 45 In this mode the motor will be moved until the final position measured by the feedback sensor matches the command The motor will move as fast as it possibly can using maximum physical acceler ation This mode is best for systems where the motor can be expected to move as fast as the command changes Details on this operating mode can be found in Closed Loop Rela tive and Tracking Position Modes on page 93 Torque Mode In this closed loop mode the motor is driven in a manner that it produces a desired amount of torque regardless of speed This is achieved by using the motor current as the feedback Torque mode does not require any specific wiring Detail on this operating mode can be found in Closed Loop Torque Mode on page 107 Advanced Digital Motor Controllers User Manual Motor Operating Features and Options Robote 80 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Brushless Motor Introduction SECTION 7 Brushless Motor Connections and Operation This section addresses installation an operating issues specific to brushless motors It is applicable only to bru
121. connected to the output at one end and to a positive voltage source e g a 24V battery at the other Connecting Resistive Loads to Outputs Resistive or other non inductive loads can be connected simply as shown in the diagram below Lights LEDs or any other non inductive load Upto 24V DC Internal Transistor Ground FIGURE 13 Connecting resistive loads to DOUT pins Connecting Inductive loads to Outputs The diagrams on Figure 14 show how to connect a relay solenoid valve small motor or other inductive load to a Digital Output Relay Valve Motor Solenoid or other Inductive Load Up to 24V DC Internal Transistor I Ground FIGURE 14 Connecting inductive loads to DOUT pins Advanced Digital Motor Controllers User Manual 43 Connecting Sensors and Actuators to Input Outputs I RoboteQ Important Warning Overvoltage spikes induced by switching inductive loads such as solenoids or relays will destroy the transistor unless a protection diode is used Connecting Switches or Devices to Inputs shared with Outputs On HDCxxxx and HBLxxxx controllers Digital inputs DIN12 to DIN19 share the connector pins with digital outputs DOUT1 to DOUT8 When the digital outputs are in the Off state these outputs can be used as inputs to read the presence or absence of a voltage at these pins 1K to 10K DIN12 to DIN19 i DOUT1 to DOUT7 c Input Buffer
122. ct the scaling factor for the power output as a percentage value This feature is used to connect motors with voltage rating that is less than the bat tery voltage For example using a factor of 50 it is possible to connect a 12V motor onto a 24V system in which case the motor will never see more than 12V at its input even when the maximum power is applied Selecting the Motor Control Modes For each motor the controller supports multiple motion control modes The controller s fac tory default mode is Open Loop Speed control for each motor The mode can be changed using the Roborun PC utility Open Loop Speed Control In this mode the controller delivers an amount of power proportional to the command information The actual motor speed is not measured Therefore the motor will slow down if there is a change in load as when encountering an obstacle and change in slope This mode is adequate for most applications where the operator maintains a visual contact with the robot Closed Loop Speed Control In this mode illustrated in Figure 44 optical encoder typical or an analog tachometer is used to measure the actual motor speed If the speed changes because of changes in load the controller automatically compensates the power output This mode is preferred in pre cision motor control and autonomous robotic applications Details on how to wire the tachometer can be found in Connecting Tachometer to Analog Inputs on page 47 Closed Lo
123. cted The controller will automatically enable USB and disable CAN as soon as the USB is con nected to the PC The CAN connection will then remain disabled until the controller is restarted with the USB unplugged See the controller model datasheet to verify whether simultaneous CAN and USB is sup ported Important Notice Power up the controller with the USB cable disconnected and leave disconnected in order to operate CAN Commands Accessible via CANopen Practically all of the controller s real time queries and real time commands that can be accessed via Serial USB communication can also be accessed via CANopen The meaning effect range and use of these commands is explained in detail in Serial RS232 USB Operation on page 111 126 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IRo b oteQ CANopen Message Types All supported commands are mapped in a table or Object Dictionary that is compliant with the CANopen specification See Object Dictionary on page 129 for a complete set of commands CANopen Message Types The controller operating in the CANopen mode can accept the following types of mes sages Service Data Objects or SDO messages to read write parameter values Process Data Objects or PDO mapped messages to automatically transmit param eters and or accept commands at runtime Network Management or NMT as defined in the CANopen specification Servic
124. cted Current Limit Settings llle 76 Selectable Amps Threshold Triggering eee eee 77 Programmable Acceleration amp Deceleration 77 Forward and Reverse Output Gain llle 78 Selecting the Motor Control Modes llle 78 Open Loop Speed Control sedi cece eee ee eens 78 Aavanced Digital Motor Controllers User Manual Robote SECTION 7 SECTION 8 SECTION 9 Closed Loop Speed Control lille 78 Closed Loop Position Relative Control llle 78 Closed Loop Count PoSitIOnza in uu KG sede Dnm NN KG 79 Closed Loop Iracking ss zer 3 Ya bea eee Daa Shae eee Pee EE 79 Torque MOE s 3 ure ok dear RP REM IER EREMO Ede eee OR 79 Brushless Motor Connections and Operation n s sssaaa sasarean 81 Brushless Motor Introduction a reaa n eaae 81 Number ot Poles icc 0e4s ih EBA RENA KAKANAN eS 82 Hall Sensor Wing daanan c emet cit ci mcns ee NADA 82 Hall Sensor Wiring Order cee eee 83 Brushless Motor Operation lille nnn 84 Stall DEtLECION e s vue arti pate XR ER DEIN EROGO Pha eet 84 Speed Measurement using Hall Sensors llle 85 Distance Measurement using Hall Sensors 2 0 200 eee eee 85 Closed Loop Speed Mode sssr ceca Ed EIER ERROR ex UR EE bees 87 Mode Descriptlon s un nth Uh ALNG ce SNE LEA gence 87 Tachometer or Encoder Wiring annarrar annn 87 Tachometer or Encoder Mounting llle 87
125. ctivating the motors See the full description of this feature at Deadband Selection on page 67 Command Exponentiation The controller can also be set to translate the joystick motor commands so that the motor respond differently depending on whether the joystick is near the center or near the extremes Five different exponential or logarithmic translation curves may be applied Since this feature applies to the R C Analog and RS232 modes it is described in detail in Exponent Factor Application on page 68 in the General Operation section of the manual Reception Watchdog Immediately after it is powered on if in the R C mode the controller is ready to receive pulses from the RC radio If valid pulses are received on any of the enabled Pulse input channels the controller will consider the RC Pulse mode as active If no higher priority command is currently active See Input Command Modes and Priorities on page 55 the captured RC pulses will serve to activate the motors If no valid RC pulses reach the controller for more than 500ms the controller no longer considers it is in the RC mode and a lower priority command type will be accepted if pres ent Advanced Digital Motor Controllers User Manual 59 Command Modes IRoboteQ Important Warning Some receivers include their own supervision of the radio signals and will move their servo outputs to a safe position in case of signal loss Using these types of receiver
126. cy Measures the repeating frequency of Encoder wheel pulse The capture mode can be selected using the PC Configuration Utility The captured signals are then adjusted and can be used as command or feedback accord ing to the processing chain described in the diagram below Capture Min Max Center Deadband Exponent Use ri Select Pulse gt Command Input x 3 a gt Feedback FIGURE 40 Pulse Input processing chain Except for the capture all other steps are identical to these described for the Analog cap ture mode See Min Max and Center adjustment on page 66 Deadband Selection on page 67 Exponent Factor Application on page 68 Use of Pulse Input After the pulse input has been fully processed it can be used as a motor command or if the controller is configured to operate in closed loop as a feedback value typically speed or position Each input can therefore be configured to be used as command or feedback for any motor channel s The mode and channel s to which the analog input applies are selected using the PC Configuration Utility Advanced Digital Motor Controllers User Manual 69 VO Configuration and Operation I RoboteQ Digital Outputs Configurations and Triggers The controller s digital outputs can individually be mapped to turn On or Off based on the status of userselectable internal status or events The table below lists the possible assignment for each
127. d Set Arguments Get Argument Description ACTR InputNbr Center InputNbr Analog Center ADB InputNbr Deadband InputNbr Analog Deadband AINA InputNbr Action InputNbr Analog Input Actions ALIN InputNbr Linearity InputNbr Analog Linearity AMAX InputNbr Max InputNbr Analog Max AMAXA InputNbr Action InputNbr Action on Analog Input Max AMIN InputNbr Min InputNbr Analog Min AMINA InputNbr Action InputNbr Action on Analog Input Min AMOD InputNbr Mode InputNbr Analog Input Mode APOL InputNbr Polarity InputNbr Analog Input Polarity ACTR Set Analog Input Center 0 Level This parameter is the measured voltage on input that will be considered as the center or the 0 value The min max and center are useful to set the range of a joystick or of a feed back sensor Internally to the controller commands and feedback values are converted to 1000 0 1000 Syntax AACTR cc nn ACTR cc Where nn 0 to 5000mV Default Value 2500mV Example ACTR 3 2000 Set Analog Input 3 Center to 2000mV ADB Analog Deadband This parameter selects the range of movement change near the center that should be con sidered as a O command This value is a percentage from O to 50 and is useful to allow some movement of a joystick around its center position before any power is applied to a motor Syntax ADB cc nn ADB cc Advanced Digital Motor Controllers User Manual 201 Commands Reference Robote
128. d Differential gains and another screen for running and monitoring the motor First run the motor with the preset values Then experiment with different values until a satisfactory behavior is found In Speed Mode the Integral component of the PID is the most important and must be set first The Proportional and Differential components will help improve the response time and loop stability Try initially to only use a small value of and no P or D 0 1 0 e ll Iw Il Aavanced Digital Motor Controllers User Manual Closed Loop Speed Mode I RoboteQ These values practically always work but they may cause the motor to be slow reaching the desired speed Experiment then with adding P gain and different values of I In the case where the load moved by the motor is not fixed tune the PID with the mini mum expected load and tune it again with the maximum expected load Then try to find values that will work in both conditions If the disparity between minimal and maximal pos sible loads is large it may not be possible to find satisfactory tuning values Note that the controller uses one set of Proportional Integral and Differential Gains for both motors and therefore assumes that similar motor mechanical assemblies and loads are present at each channel In slow systems use the integrator limit parameter to prevent the integrator to reach satu ration prematurely and create overshoots Error Detection and Protec
129. d array name expression is any expression returning a result condition is any expression returning a boolean result stmt is single Micro Basic statement block is zero or more Micro Basic statements label is any valid label name n is a positive integer value str is a valid string literal Keywords A keyword is a word that has special meaning in a language construct All keywords are reserved by the language and may not be used as variables or label names Below is a list of all Micro Basic keywords And AndWhile As Boolean Continue Dim Do Else Elself End Evaluate Exit Explicit False For GoSub GoTo If Integer Loop Mod Next Not Option Or Print Return Step Terminate Then To ToBool True Until While XOr Operators Micro Basic provides a large set of operators which are symbols or keywords that specify which operations to perform in an expression Micro Basic predefines the usual arithmetic and logical operators as well as a variety of others as shown in the following table Category Operators Arithmetic Mod Logical boolean and bitwise And Or XOr Not True False Increment decrement Shift lt lt gt gt Relational lt gt lt gt lt gt 146 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I Ro boteQ Introduction Category Operators Assignment lt lt gt gt Indexing Micro Basic Functions Micro Basic currently support only one function cal
130. d in the controller At this point they can be adjusted further manually and saved in the controller Input Output Labeling Each analog digital or pulse input output is given default label e g DIN1 AIN2 Alter natively it is possible to assign or a user defined label name e g Limit1 eStop to each of these signals This label will then appear in the Run Tab next to the LED or Value box The label will also appear in the Pin View window See Figure 67 Pinout View pop up win dow on page 227 Custom labels make it much easier to monitor the controller s activity in the Run tab 4 gt Analog Inputs 4 2 Alni Cmd1 FIGURE 73 Labeling an Input Output To label an Input or Output simply select it in the tree A text field will appear in which you can enter the label name Beware that while it is possible to enter a long label names with more than 8 letters will typically appear truncated in the Run tab Advanced Digital Motor Controllers User Manual 231 Using the Roborun Configuration Utility Robote Loading Saving Controller Parameters The buttons on the right of the Configuration tab let you load parameters from the control ler at any time and save parameters typically after a new parameter has been changed in the trees You can save a configuration profile to disk and load it back into the tree The Reset Defaults button lets you reset the controller back to the factory settings
131. d parameters can be disabled with a checkbox at the upper left cor ner of their frame By default all are enabled Disabling one or more will increase the cap ture resolution in the chart and log of the remaining ones Fault Monitoring Status LEDs show the real time state of key operating flags The meaning of each LED is displayed next to it and can vary from one controller to another The Fault LEDs indicate all fault conditions Any one LED that is lit will cause the controller to disable the power to all motor output channels The meaning of each LED is displayed next to it and can vary from one controller to another The Config Fault LED indicates that an invalid configuration is read from the controller This would be an extremely unlikely occurrence but if it happens restore the default configura tion and then reload your custom configuration The EEPROM error signals a hardware fault with the controller s configuration storage device If the problem persists please contact Roboteq for repair Advanced Digital Motor Controllers User Manual 237 Using the Roborun Configuration Utility I RoboteQ Applying Motor Commands The command sliders will cause the command value to be applied to the controller Click ing on the 7 7 buttons lets you fine tune the command that is applied to the controller The numerical value can be entered manually by entering a number in the text box The Mute checkbox can
132. d the motor windings are also used to measure speed and distance travelled Speed is evaluated by measuring the time between transition of the Hall Sensors A 32 bit up down counter is also updated at each Hall Sensor transition Speed information picked up from the Hall Sensors can be used for closed loop speed operation without any additional hardware Advanced Digital Motor Controllers User Manual VO Configuration and Operation Robote 72 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Power Output Circuit Operation SECTION 6 Motor Operating Features and Options This section discusses the controller s operating features and options relating to its motor outputs Power Output Circuit Operation The controller s power stage is composed of high current MOSFET transistors that are rap idly pulsed on and off using Pulse Width Modulation PWM technique in order to deliver more or less power to the motors The PWM ratio that is applied is the result of computa tion that combines the user command and safety related corrections In closed loop opera tion the command and feedback are processed together to produced a the adjusted motor command The diagram below gives a simplified representation of the controller s opera tion Configuration Configuration Configuration Configuration Y Y Y Y Commands Aocel rston Channel Motor Safety Power Configura
133. d when closing the simulator console 138 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Editing Building Simulating and Executing Scripts Downloading MicroBasic Scripts to the controller The Download to Device button will cause the MicroBasic script to be built and then trans ferred into the controller s flash memory where it will remain permanently unless overwrit ten by a new script The download process requires no other particular attention There is no warning that a script may already be present in Flash A progress bar will appear for the duration of the transfer which can be from a fraction of a second to a few seconds When the download is completed successfully no message is displayed and control is returned to the editor An error message will appear only if the controller is not ready to receive or if an error occurred during the download phase Downloading a new script while a script is already running will cause the running script to stop execution All variables will also be cleared when a new script is downloaded Executing MicroBasic Scripts Once stored in the Controller s Flash memory scripts can be executed either Manually or automatically every time the controller is started Manual launch is done by sending commands via the Serial or USB port When connected to the PC running the PC utility the launch command can be entered from the Console tab The co
134. de The query usage is as follows Syntax CF Reply CF number of frames pending Reading Raw Received Frames After a frame has been moved to the read buffer the header bytecount and data can be read with the CAN query The query can be sent from the serial USB port or from a MicroBasic script using the getvalue CAN n function The query usage is as follows When the query is sent from serial or USB without arguments the controller replies by outputting all elements of the frame separated by colons Syntax CAN ee Reply CAN header bytecount data0 data1 data7 Where ee frame element 1 header 2 bytecount 3 to 10 dataO to data7 Examples Q CAN R CAN 5 4 11 12 13 14 0 0 0 0 Q CAN 3 R CAN 11 Notes Read the header to detect that a new frame has arrived If header is dif ferent than O then a new frame has arrived and you may read the data After reading the header its value will be O if read again unless a new frame has arrived New CAN frames will not be received by the controller until a CAN query is sent to read the header or any other element Once the header is read proceed to read the other elements of the received frame without delay to avoid data to be overwritten by a new arriving frame Transmitting Raw Frames RawCAN Frames can easily be assembled and transmitted using the CAN Send Command ICS This command can be used to enter the header bytecount and data one element
135. describes the communication settings of the controller operating in the RS232 or USB mode This information is useful if you plan to write your own controlling software on a PC or microcomputer The full set of commands accepted by the controller is provided in Commands Refer ence on page 163 If you wish to use your PC simply to set configuration parameters and or to exercise the controller you should use the RoborunPlus PC utility Use and benefits of Serial Communication The serial communication allows the controller to be connected to microcomputers or wireless modems This connection can be used to both send commands and read various status information in real time from the controller The serial mode enables the design of complex motion control system autonomous robots or more sophisticated remote con trolled robots than is possible using the RC mode RS232 commands are very precise and securely acknowledged by the controller They are also the method by which the control ler s features can be accessed and operated to their fullest extent When operating in RC or analog input serial communication can still be used for monitor ing or telemetry When connecting the controller to a PC the serial mode makes it easy to perform simple diagnostics and tests including Sending precise commands to the motor Reading the current consumption values and other parameters e Obtaining the controller s software revision and date e R
136. desired voltage value multiplied by 10 Syntax UVL nn UVL Where nn Volt 10 Allowed Range 5 0V to Max Voltage rated in controller Data Sheet Advanced Digital Motor Controllers User Manual 215 Commands Reference Robote Default Value 50 5 0V Example AUVL 100 Set undervoltage limit to 10 0 V Motor Channel Configuration and Set Points This section covers all motor operating parameters mostly related to controller s power stage TABLE 31 Motor Channel Configuration and Set Points Command Set Arguments AME Description ALIM Channel AmpLimit Channel Motor Amps Limit ATGA Channel AmpTrigger Action Channel Amps Trigger Action ATGD Channel AmpTrigger Delay Channel Amps Trigger Delay ATRIG Channel AmpTrigger Channel Amps Trigger Value CLERD Channel LoopErrorDetection Channel Close Loop Error Detection ICAP Channel Capped Int Channel PID Integral Cap KD Channel DiffGain Channel PID Differential Gain KI Channel IntGain Channel PID Integral Gain KP Channel PropGain Channel PID Proportional Gain MAC Channel Acceleration Channel Motor Acceleration MDEC Channel Deceleration Channel Motor Deceleration MMOD Channel OperatingMode Channel Motor Operating Mode MVEL Channel DefPositionVel Channel Motor s Default Position Velocity MXPF Channel MaxPower Channel Motor Max Power Forward MXPR Channel MaxPower Channel Motor Max Power Reverse MXRPM Ch
137. ds eee eee eee ees 115 Communication Protocol Description 2 eee ees 115 Character Echo va wba ee pla ee Sav ela neva eed 115 Command Acknowledgement eee eee eee eee nnn 115 Command EITOL omne wa ete ce e ee ne a ee eee eas 115 Watchdog time OUt si cs gei crete as E ate weit elt ene ede ced 116 Controller Present Check siss beum RR ek ace Rag NG 116 CAN Networking on Roboteq Controllers llle eer 117 Supported CAN Modes ERI e UR RR a KR RR n Ren 117 Mode Selection and Configuration clle 117 Common ConfigurationS 0 cece enhn hrs 118 MiniCAN Configurations 6 00 cee ee hn 118 RawCAN Configurations 0c cee ee eee 118 Using RawCAN Mode 2 cece eee eee eee ees 118 Checking Received Frames v usd e hd ck sewed een aoe eed es 118 Reading Raw Received Frame S ee cece eee 119 Aavanced Digital Motor Controllers User Manual Robote Transmitting Raw Frames ern nnn 119 Using MINICAN MOda sis e herr RR X Rx Rees 120 Jransrmittinig Data sesse geod Saad ace nre RR RR an ncn ncm MALANG 120 Receiving Data aaa a RA RR mh eRe MR EG ORR EE A 121 MiniCAN Usage Example llle 121 SECTION 14 CANopen Interface x2 oncser e REDDIT er Re EE RE ROO E Robe erate ac 123 Use and benefits of CANOPEN ee eee ees 123 CAN COFFSCLOLE xxx aes eae EE ER e Y Re RR eR RR IRR Us 124 CAN Bus Configuration x22 sero RR EE iene ERE NG 124 Node D mmm ERR eet h
138. e Battery Amps while other models measure the Battery Amps and calcu late the Motor Amps The measured Amps is always more precise than the calculated Amps See controller datasheet to find which Amps is measured by your particular model BS Read BL Motor Speed in RPM On brushless motor controllers reports the actual speed measured using the motor s Hall sensors as the actual RPM value Syntax BS Reply BS nn Where nn speed in RPM Notes To report RPM accurately the correct number of motor poles must be loaded in the BLPOL configuration parameter BSR Read BL Motor Speed as 1 1000 of Max On brushless motor controllers returns the measured motor speed as a ratio of the Max RPM configuration parameter See MXRPM Max RPM Value on page 221 The result is a value of between 0 and 1000 Note that if the motor spins faster than the Max RPM the return value will exceed 1000 However a larger value is ignored by the controller for its internal operation Syntax BSR Reply BSR nn Where nn speed relative to max Advanced Digital Motor Controllers User Manual 175 Commands Reference IRo boteQ Example Q BSR R BSR 500 speed is 50 of the RPM value stored in the Max RPM configuration Notes To report an accurate result the correct number of motor poles must be loaded in the BLPOL configuration parameter C Read Encoder Counter Absolute Returns the encoder value as an absolute number T
139. e ACRES 149 While Do Statements cee RR RR RR nn 150 Terminate StateMent 0 cc ee hh 151 Exit Statement aT ARR ER a ee oe ele Ee Ya 151 Continde Statement scs es sare emus chad Domo wo RE RORIS nG 151 GOolo StateMeNb CREE ERO DTE EE OT EAE NS a 152 GoSub Return Statements 2 cee ee enhn 152 ToBool Stat marntas sas id coe de eee Sieg ae dat Gd uci enc eae 153 Pint Statements starehe ie tac dard pene nett r a t a d aa ts Bed 153 ADS FUNCTION s aue aunts eet enc te EUR CC CC AA 153 DIOC X Hm 153 Op6rator 22e RR eS EA eee ese RR RR OBS 153 CGN LOM ss uy Rr E CER RI e RIRCRUR teagan e KORR RECAPS neh RR Rc coda 154 TOPAO enropar ERRARE PETA EEEIEE RAEE ERARE 154 Mod Operator maganak eer y hk se kn Ron RRENO RE 154 And ODSTO e pM NG NANG NG 154 Or Operator aia wi ee Oe A eee ee OE Ah 154 XOF Operator s sees m Rn EAE EERE EEE misc RR RU a oc 154 Not Operator RR Re coe eed ee Abe ERR 154 True Literal 20253 Wa 8 tRRc AT fee PR RW G Eo deg diet HR ROM Gels 155 False tera c ac ERR ECRIRE CR CR c 155 HE ODerator sx beteenti peeenkereemeb RR ue p DAE 155 Ic DEEP 155 Operator naaa haaha buda desea APANG acaba hana 156 pd0n iCu M ERI CCP 156 lt x Operator paraaan pana da eR d ERROR E EUR RURSUS ERED EN 156 lt ORGAO sto s aate Reade ind Mes ERE owe a ind dn afe do 156 Ole AA EET ERST 156 sS OPO eene aci at UR EAE we ed ae ea ae Wee S 156 Advanced Digital Motor Controllers User Manual Robote Operator
140. e Data Object SDO Read Write Messages Runtime queries and runtime commands can be sent to the controller in real time using the expedited SDO messages SDO messages provide generic access to Object Dictionary and can be used for obtaining parameter values on an irregular basis due to the excessive network traffic that is gener ated with each SDO request and response message The list of commands accessible with SDO messages can be found in the Object Diction ary on page 129 Transmit Process Data Object TPDO Messages Transmit PDO TPDO messages are one of the two types of PDO messages that are used during operation TPDOs are runtime operating parameters that are sent automatically on a periodic basis from the controller to one or multiple nodes TPDOs do not alter object data they only read internal controller values and transmit them to the CAN bus TPDOs are identified on a CANopen network by the bit pattern in the 11 bit header of the CAN frame 4 bits 7 bits HA mm Object Type NodelD TPDO1 0x180 Node ID TPDO2 0x280 Node ID TPDO3 0x380 Node ID TPDO4 0x480 Node ID CANopen allows up to four TPDOs for any node ID TPDO1 to TPDOA are used to transmit up to 8 user variables which may be loaded with any operating parameters using MicroBa sic scripting Advanced Digital Motor Controllers User Manual 127 CANopen Interface Robote Each of the 4 TPDOs can be configured to be sen
141. e Roborun utility if the controller is connected or after you connect the controller the Roborun will automatically scan all the PC s available communication ports The automatic scanning is particularly useful for controllers connected via USB since it is not usually possible to know ahead of time which communication port the PC will assign to the controller If a controller is found on any of those ports Roborun will Display the controller model in the window header Display the Connection COM port number report the Firmware revision and turn on the Connect LED in the Status bar e Pop up a message box asking you if you wish to read the configuration Roborun Plus Ex Controller found Do you wish to load configuration L Yes J No FIGURE 68 Pop up message when Controller is detected Answering Yes the Roborun will read all the configuration parameters that are stored into the controller s memory Note If two or more controllers are connected to the same PC Roborun will only detect one Roborun will normally first detect the one assigned to the lowest COM port number however this is not entirely predictable It is recommended that you only connect one con troller at a time when using the PC utility 228 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Configuration Tab Configuration Tab The configuration tab is used to read modify and
142. e an addi tional 10000 count every time Beware that this will work until you reach the maximum counter value of 2 000 000 at which point the counter will rollover Note Note that if a PR command is sent while a previous goto position com mand is in progress the value is being added to the current destination For example if the motor is stopped at position O sending PR 1 10000 three times rapidly will cause the motor to go directly to position 30000 At any time you can change the acceleration and deceleration using the AC and DC com mands Syntax IAC nn mm IDC nn mm Where nn motor channel mm acceleration deceleration in RPM s 10 Example IAC 1 10000 acceleration for channel 1 is 1000 RPM s The velocity can also be changed at any time using the S command Syntax IS nn mm Where nn motor channel mm velocity in RPM Position Command Chaining It is possible to chain position commands in order to create seamless motion to a new position after an initial position is reached To do this the controller can store the next goto position with optionally a new set of acceleration deceleration and velocity values The commands that set the next move are identical to these discussed in the previous section with the addition of an X at the end The full command list is IPX nn mm Next position absolute 104 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IlRobo
143. e configured by default so that the min and max com mand range is from 0 25V to 4 75V These values can be changed using the PC configura tion utility This ensures that the full travel of the pot is used to generate a command that spans from full min to full max If the Min Max safety is enabled for the selected analog input the command will be con sidered invalid if the voltage is lower than 0 1V or higher than 4 9 These values cannot be changed Connecting Tachometer to Analog Inputs When operating in closed loop speed mode tachometers can be connected to the control ler to report the measured motor speed The tachometer can be a good quality brushed DC motor used as a generator The tachometer shaft must be directly tied to that of the motor with the least possible slack Since the controller only accepts a 0 to 5V positive voltage as its input the circuit shown in Figure 21 must be used between the controller and the tachometer a 10kOhm potentiom eter is used to scale the tachometer output voltage to 2 5V max reverse speed and 2 5V max forward speed The two 1kOhm resistors form a voltage divider that sets the idle voltage at mid point 2 5V which is interpreted as the zero position by the controller With this circuitry the controller will see 2 5V at its input when the tachometer is stopped OV when running in full reverse and 5V in full forward Advanced Digital Motor Controllers User Manual IRoboteQ C
144. e executed if the expression is false For example Dim a As Integer Dim b As Integer a 10 b 20 Block If statement If a lt b Then a b Else b a End If 148 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I Ro boteQ Introduction Line If statement If a lt b Then a b Else b a Below is an example where ElseIf takes place If score gt 90 Then grade 1 ElseIf score gt 80 Then grade 2 ElseIf score gt 70 Then grade 3 Else grade 4 End If For Next Statement Micro Basic contains two types of For Next loops Traditional For Next Traditional For Next exists for backward compatibility with Basic but it is not recommended due to its inefficient execution Traditional For Next is the same syntax as Basic For Next statement e C Style For Next This is a new style of For Next statement optimized to work with Roboteq con trollers and it is recommended to be used It is the same semantics as C for loop but with a different syntax For var expression AndWhile condition Evaluate stmt lt block gt Next The c style for loop is executed by initialize the loop variable then the loop contin ues while the condition is true and after execution of single loop the evaluate state ment is executed then continues to next loop Dim arr 10 As Integer For i 0 AndWhile i lt
145. e only one combination is valid there may be other combinations that will cause the motor to spin When the motor spins with the wrong wiring com bination it will do so very inefficiently Make sure that the motor spins equally smoothly in both directions Try all 6 combinations and select the best Brushless Motor Operation Once the Hall sensors and motor power wires are correctly connected to the controller a brushless motor can be operated exactly like a DC motor and all other sections in this man ual are applicable In addition the Hall sensors provide extra information about the motor s state compared to DC motors This information enables the additional features discussed below Stall Detection The Hall sensors can be used to detect whether the motor is spinning or not The control ler includes a safety feature that will stop the motor power if no rotation is detected while a given amount of power is applied for a certain time Three combinations of power and time are available e 250ms at 10 power 500ms at 25 power e 1s at 50 power If the power applied is higher than the selected value and no motion is detected for the corresponding amount of time the power to the motor is cut until the motor command is returned to O This function is controlled by the BLSTD Brushless Stall Detection parame ter see BLSTD Brushless Stall Detection on page 213 Do not disable the stall pro tection A stall condition i
146. e relative speed can be read using the sr query MXTRN Turns between Limits This parameter is used in position mode to measure the speed when an analog or pulse feedback sensor is used The value is the number of motor turns between the feedback value of 1000 and 1000 When encoders are used for feedback this parameter is auto matically computed from the encoder configuration and can thus be omitted See Closed Loop Relative and Tracking Position Modes on page 93 for a detailed discussion Syntax MXTRN cc nn MXTRN cc Where cc Motor channel nn Number of turns x 10 Advanced Digital Motor Controllers User Manual 221 Commands Reference I RoboteQ Allowed Range 10 to 100000 Default Value 1000 Example AMXTRN 1 2000 Set max turns for motor 1 to 200 0 turns Sepex Specific Commands TABLE 32 Command Set Arguments Get Argument Description SXC CurvePoint Value Point Sepex Curve Points SXM MinimumCurrent none Minimum Field Current SXC Sepex Motor Excitation Table This parameter is used on Sepex controllers to generate the field excitation power based on the power level that is currently applied to the armature channel There are 5 values in this parameter for 0 25 50 75 and 100 When running depending on the power level that is applied on the armature the power level on the excitation will be inter polated from that table Syntax ASXC pp nn SXC pp Where
147. eading inputs and activating outputs e Setting the programmable parameters with a user friendly graphical interface Updating the controller s software Advanced Digital Motor Controllers User Manual 111 Serial RS232 USB Operation IRo boteQ Serial Port Configuration The controller s serial communication port is set as follows 115200 bits s e 8 bit data e 1 Start bit e 1 Stop bit e No Parity Communication is done without flow control meaning that the controller is always ready to receive data and can send data at any time These settings cannot be changed You must therefore adapt the communication set tings in your PC or microcomputer to match those of the controller Connector RS232 Pin Assignment 14 25 8 1 O 000000000000 00000000 0000000000000 O 0000000 1 13 15 9 FIGURE 57 DB25 and DB15 Connector pin locations When used in the RS232 mode the pins on the controller s DB15 or DB25 connector depending on the controller model are mapped as described in the table below TABLE 10 RS232 Signals on DB15 and DB25 connectors Pin Input or Number Output Signal Description 2 Output Data Out RS232 Data from Controller to PC 3 Input Data In RS232 Data In from PC 5 Ground Controller ground Cable configuration The RS232 connection requires the special cabling as described in Figure 58 The 9 pin female connector plugs into the PC or other microcontrol
148. eceiver RC Switch I O Connector FI Ground Main Battery FIGURE 10 Example of remotely operated safety disconnect The receiver must operate in such a way that the contactor relay will be off if the transmit ter if off or out of range The transmitter should have a visible and easy to reach emergency switch for the operator That switch will be used to deactivate the relay remotely It could also be used to shut down entirely the transmitter assuming it is determined for certain that this will deactivate the relay at the controller Protection using Supervisory Microcomputer In applications where the controller is commanded by a PC a microcomputer or a PLC that supervisory system could be used to verify that the controller is still responding and cut the power to the controller s power stage in case a malfunction is detected The super visory system would only require a digital output or other means to activate deactivate the contactor relay as shown in the figure below Advanced Digital Motor Controllers User Manual 37 Safety Recommendations IRo b oteQ Controller On Off Switch PwrCtrl Ground PC PLC or Microcomputer Digital Output 1 0 Connector Ground Main Battery FIGURE 11 Example of safety disconnect via supervisory system Self Protection against Power Stage Failure If the controller processor is still operational it can self detect several although not
149. eee eee eee eee eee 183 MGT Read Magsensor Track Position llle 183 P Read Motor Power Output Applied 0 cee eee eee 184 PI Read Pulse INPUL see KANE Wa A ERR T E Rn RR NG 184 PIC Read Pulse Input after Conversion llle 184 S Read Encoder Speed RPM leen 185 SR Read Encoder Speed Relative eee ees 185 T Read Temperature 2 eee ee 185 TM S Read TIITIG 2r Rata a ewe Ceci Rc eg week a 185 TR Read Position Relative Tracking cece eee eee eee 186 TRN Read Control Unit type and Controller Model 186 V Read Volts maa sheiiimsiraokaa kao DNA DL NBA sob ned Ra aed 186 VAR Read User Integer Variable 00 eee eee eee 187 Aavanced Digital Motor Controllers User Manual Robote Query History Commands hh nnn 188 Send Next History Item Stop Automatic Sending 188 C Clear Butter HISTOEV s us ci tae cee NANG nete on RO e nA 188 nn Start Automatic Sending llle 189 Maintenance Commands naaa et ewm mn RR RR Eos orden RR Re NAG 190 BIND Bind Spektrum Receiver llle eere 190 DFU Update Firmware via USB ccc ee erre 190 EELD Load Parameters from EEPROM 000 cece eres 191 EERST Reset Factory Defaults 0 0 cee ees 191 EESAV Save Configuration in EEPROM 0 00 cece eee eee 191 LK Lock Configuration Access cee eee 191 RESET Reset Controller c
150. ember 1 2013 I RoboteQ Introduction TABLE 18 Command Short Arguments Description _DRES DO BitNumber Reset Individual Digital Out bits _DSET _D1 BitNumber Set Individual Digital Out bits _DECEL _DC Channel Deceleration Set Deceleration _DOUT _DS Value Set all Digital Out bits _NXTDEC DX Channel Deceleration Next Deceleration _EESAV _EES none Save Configuration in EEPROM _ESTOP _EX none Emergency Shutdown _GO _G Channel Command Set Motor Command HOME H Channel Load Home counter _MGO _MG none Release Shutdown _MSTOP _MS Channe Stop in all modes _MOTPOS ap Channel Position Abs Set Position _MPOSREL _PR Channel Position Rel Go to Relative Desired Position _NXTPOSR PRX Channel Position Rel Next Go to Relative Desired Position _NXTPOS _PX Channel Next Position Abs Next Go to Absolute Desired Position _BRUN _R Mode MicroBasic Run RCOUT _RC Channel RC Pulse Set RC Pulse Out _MOTVEL E Channel Velocity Set Velocity NXTVEL SX Channel Velocity Next Velocity VAR VAR Variable Number Value Set User Variable SetConfig GetConfig These two functions are used to read or and change one of the controller s configuration parameters at runtime The changes are made in the controller s RAM and take effect immediately Configuration changes are not stored in EEPROM SetConfig Set a configuration parameter GetConfig Read a configuration parameter Both co
151. ember 1 2013 I RoboteQ Feedback Sensor Range Setting The sensor is composed of two parts abody which must be physically attached to a non moving part of the motor assem bly or the robot chassis and e an axle which must be physically connected to the rotating part of the motor you wish to position A gear box is necessary to greatly increase the torque of the assembly It is also necessary to slow down the motion so that the controller has the time to perform the position control algorithm If the gearing ratio is too high however the positioning mode will be very slug gish A good ratio should be such that the output shaft rotates at 1 to 10 rotations per second 60 to 600 RPM when the motor is at full speed The mechanical coupling between the motor and the sensor must be as tight as possible If the gear box is loose the positioning will not be accurate and will be unstable potentially causing the motor to oscillate Some sensors such as potentiometers have a limited rotation range of typically 270 degrees 3 4 of a turn which will in turn limit the mechanical motion of the motor potenti ometer assembly Consider using a multi turn potentiometer as long as it is mounted in a manner that will allow it to turn throughout much of its range when the mechanical assembly travels from the minimum to maximum position When using encoders best results are achieved when the encoder is mounted directly on the motor shaft
152. emotely as discussed in the Manual Emergency Power Disconnect on page 36 the Remote Emergency Power Disconnect on page 37 and the Protection using Super visory Microcomputer on page 37 Using this contactor circuit turning off the controller will normally deactivate the digital out put and this will cut the power to the controller s output stage Important Warning Fully autonomous and unsupervised systems cannot depend on electronics alone to ensure absolute safety While a number of techniques can be used to improve safety they will minimize but never totally eliminate risks Such systems must be mechani cally designed so that no moving parts can ever cause harm in any circumstances Advanced Digital Motor Controllers User Manual Safety Recommendations Robote 40 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Controller Connections SECTION 3 Connecting Sensors and Actuators to Input Outputs This section describes the various inputs and outputs and provides guidance on how to connect sensors actuators or other accessories to them Controller Connections The controller uses a set of power connections located on the back of the unit and on the front and DSub connectors for all necessary connections The power connections are used for connection to the batteries and motor and will typi cally carry large current loads Details on the cont
153. ent begins with a single quote character Comments can begin anywhere on a source line and the end of the physical line ends the comment The compiler ignores the characters between the beginning of the comment and the line terminator Consequently comments cannot extend across multiple lines Comment goes here till the end of the line True and False are literals of the Boolean type that map to the true and false state respectively Micro Basic supports only integer values ranged from 2 147483 648 0x80000000 to 2 147483 647 Ox7FFFFFFF Numbers can be preceded with a sign 4 or and can be written in one of the following formats Decimal Representation Number is represented in a set of decimal digits 0 9 120 5622 504635 Are all valid decimal numbers Hexadecimal Representation Number is represented in a set of hexadecimal digits 0 9 A F preceded by Ox OxA1 0x4C2 OxFFFF Are all valid hexadecimal numbers representing decimal values 161 1218 and 65535 respectively Binary Representation Number is represented in a set of binary digits 0 1 preceded by Ob 05101 051110011 05111001010 Are all valid binary numbers representing decimal values 5 115 and 458 respec tively Advanced Digital Motor Controllers User Manual 143 MicroBasic Scripting Robote Strings Strings are any string of printable characters enclosed in a pair of quotation marks Non printing characters may be represented b
154. essions are mathematically equivalent but not if numbers can only be integers Advanced Digital Motor Controllers User Manual 141 MicroBasic Scripting Robote Script Examples Several sample scripts are included in the RoborunPlus installation Below is a continuous script that checks the heat sink temperature at both sides of the controller enclosure and lowers the amps limit to 50A when the average temperature exceeds 500C Amps limit is set at 100A when temperature is below 500 Notice that as temperature is changing slowly the loop update rate has been set at a relatively slow 100ms rate top Temperaturel getvalue TEMP 1 Temperaturel getvalue TEMP 1 TempAvg Temperaturel Temperature2 2 if TempAvg gt 50 then setconfig _ALIM 1 500 setconfig _ALIM 2 500 else setconfig _ALIM 1 1000 setconfig _ALIM 2 1000 end if wait 100 goto top 142 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ MicroBasic Language Reference MicroBasic Language Reference Introduction Comments Boolean Numbers The Roboteq Micro Basic is high level language that is used to generate programs that runs on Roboteq motor controllers It uses syntax nearly like Basic syntax with some adjustments to speed program execution in the controller and make it easier to use A comment is a piece of code that is excluded from the compilation process A comm
155. ette eee rl eee eee eee ERR 192 SHIMEAS6t TII xr ete eine abe eise ta aa E eas 192 UK Unlock Configuration ACCESS cece ees 192 Flash Card Maintenance Commands 0e eee eee eee eee 193 SDIR List Files Stored on Card 2 cece eee eee 193 SREAD Read the Content of a File 2 cece eee eee 193 SDE Delete Tile ciem iuc ayaa E tan pr a RUP PARE hom none ace 193 Set Read Configuration Commands llle enn 194 Setting Conflguratlons usos mpm rk Rr m RR E ER Ree e ex 194 Reading Configurations cara Naa NA ew RO ce RR aaa eat 194 Configuration Read Protection llle 195 Command Inputs Configuration and Safety 195 ACS Analog Center Safety 0 cece eee eee eee 196 AMS Analog within Min amp Max Safety aan 196 BRUN MicroBasic Auto Start 2 cc eee ees 196 CLIN Command Line arity 0 00 EEEE EERE AA eee 196 CPRI Command Priorities 2 0 0 eee 197 DFC Default Command value 2 eee ees 197 ECHOF Enable Disable Serial Echo eee eee 198 RWD Serial Data Watchdog cece eens 198 TELS Telemetry Sting rsss DRAG KAG ete mir eden ec cx 198 Digital Input Output ConfigurationS 0 cee eee 199 DINA Digital Input Action siaaa a eaa a eee 199 DINL Digital Input Active Level a 200 DOA Digital Output ACON s speek sa REA ERA E R AERE RTR 200 DOL Digital Outputs Active Level 00 aaa 200 Analog Input Configurations
156. ex as parameters The Operating Item can be any one from the table below The Index is used to select one of the Value Items in multi channel configurations When accessing a unique Operating Parameter that is not part of an array the index may be omitted or an index value of O can be used Details on the various operating parameters that can be read can be found in the Control ler s User Manual See Serial RS232 USB Operation on page 111 158 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Introduction GetValue OperatingItem Current2 GetValu Sensor GetValue ANAIN _BATAMPS Index 2 Read Battery Amps for Motor 2 Read voltage present at Analog Input 1 Counter GetValue BLCOUNTI Read Brushless counter TABLE 17 Command Short Arguments Description _MOTAMPS _A InputNbr Read Motor Amps RAWADC AD InputNbr Read Raw ADC Values _ANAIN _Al InputNbr Read Analog Inputs _ANAINC _AIC InputNbr Read Analog Inputs Converted BOOL B VarNbr Read User Boolean Variable _BATAMPS _BA InputNbr Read Battery Amps _BLSPEED _BS none Read BL Motor Speed in RPM _BLRSPEED _BSR none Read BL Motor Speed as 1 1000 of Max _ABCNTR _C Channel Read Absolute Encoder Count _CAN CAN Channel Read Raw CAN Message _BLCNTR _CB none Read Absolute Brushless Counter _BLRCNTR _CBR none Read Brushless Co
157. g Differences between Position Relative and Position Tracking The PID works the same way in both modes in that the desired position is compared to the actually measured position In the Closed Loop Relative mode the desired position is updated every ms and so the PID deal with small differences between the two values In the Closed Loop Tracking mode the desired position is changed whenever the com mand is changed by the user Tuning for both modes requires the same steps However the P and D values can be expected to be different in one mode or the other Advanced Digital Motor Controllers User Manual 101 Closed Loop Relative and Tracking Position Modes Robote 102 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Preparing and Switching to Closed Loop SECTION 10 Closed Loop Count Position Mode In the Closed Loop Position mode the controller can move a motor a precise number of encoder counts using a predefined acceleration constant velocity and deceleration This mode requires that an encoder be mounted on the motor Preparing and Switching to Closed Loop To enter this mode you will first need to configure the encoder so that it is used as feed back for motor1 and feedback for motor2 on the other encoder in a dual motor system Use the PC Utility to set the default acceleration deceleration and position mode velocity in the motor menu These values can t
158. g in Position mode Because the voltage at the potentiometer output is related to the actual voltage at the con troller s 5V output configure the analog input in Relative Mode This mode measures the actual voltage at the 5V output in order to eliminate any imprecision due to source voltage variations Configure using the PC Utility or see ACTR Set Analog Input Center 0 Level on page 201 Connecting Potentiometers for Commands with Safety band guards When a potentiometer is used for sensing a critical command Speed or Brake for exam ple it is critically important that the controller reverts to a safe condition in case wiring is sectioned This can be done by adding resistors at each end of the potentiometer so that the full OV or the full 5V will never be present during normal operation when the potenti ometer is moved end to end Using this circuit shown below the Analog input will be pulled to OV if the two top wires of the pot are cut and pulled to 5V if the bottom wire is cut In normal operation using the shown resistor values the analog voltage at the input will vary from 0 2V to 4 8V Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 lIRoboteQ Connecting Tachometer to Analog Inputs 220 Ohm 5V Internal Resistors and Converter 20kOhm 5K Ohm Pot 220 Ohm Ground FIGURE 20 Potentiometer wiring in Position mode The controller s analog channels ar
159. g the Roborun util ity 10 Move the cursor and verify that speed stabilizes at the desired value If speed is unsta ble tune the PID values Advanced Digital Motor Controllers User Manual 89 Closed Loop Speed Mode Robote Important Warning It is critically important that the tachometer or encoder wiring be extremely robust If the speed sensor reports an erroneous speed or no speed at all the controller will consider that the motor has not reached the desired speed value and will gradually increase the applied power to the motor until the closed loop error is triggered and the motor is then stopped Controlling Speed in Closed Loop When using encoder feedback or Hall Sensor brushless motor feedback the controller will measure and report speed as the motor s actual RPM value When using analog or pulse as input command the command value will range from 0 to 1000 and 0 to 1000 In order for the max command to cause the motor to reach the desired actual max RPM an additional parameter must be entered in the encoder or brush less configuration The Max RPM parameter is the speed that will be reported as 1000 when reading the speed in relative mode Max RPM is also the speed the controller will attempt to reach when a max command of 1000 is applied When sending a speed command via serial or USB the command may be sent as a rela tive speed 0 to 1000 or actual RPM value Control Loop Descripti
160. ge 174 02 Read Analog Input 2 Converted 03 Read Analog Input 3 Converted 04 Read Analog Input 4 Converted Repeat for all inputs Advanced Digital Motor Controllers User Manual 133 CANopen Interface IRoboteQ TABLE 16 Object Dictionary Data Command Type amp Reference Index Sub Entry Name Access amp Page 0x6403 01 Read Pulse Input 1 16 RO PI page 184 02 Read Pulse Input 2 03 Read Pulse Input 3 04 Read Pulse Input 4 Repeat for all inputs 0x6404 01 Read Pulse Input 1 Converted 16 RO PIC page 184 02 Read Pulse Input 2 Converted 03 Read Pulse Input 3 Converted 04 Read Pulse Input 4 Converted Repeat for all inputs 134 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Script Structure and Possibilities SECTION 15 MicroBasic Scripting One of the controller s most powerful and innovative features is the ability for the user to write programs that are permanently saved into and run from the controller s Flash Mem ory This capability is the equivalent of combining the motor controller functionality and this of a PLC or Single Board Computer directly into the controller Script can be simple or elab orate and can be used for various purposes Complex sequences MicroBasic Scripts can be written to chain motion sequences based on the status of analog digital inputs motor position
161. gered The motor will then stop until the error disappears the controller is set to Open Loop or the controller is reset Determining the right polarity is best done experimentally using the Roborun utility see Using the Roborun Configuration Utility on page 225 and following these steps 1 Configure the controller in Open Loop Speed mode 2 Configure the position sensor input channel as position feedback for the desired motor channel 3 Click on the Run tab 4 Enable the Feedback channel in the chart recorder 5 Move the slider slowly in the positive direction and verify that the Feedback in the chart increases in value If the Feedback value decreases then the sensor is back wards and you should either invert it or swap the motor wires so that the motor turns in the opposite direction 6 Move the sensor off the center position and observe the motor s direction of rotation 7 Goto the max position and verify that the feedback value reaches 1000 a little before the end of the physical travel Modify the min and max limits for the sensor input if needed 8 Repeat the steps in the opposite direction and verify that the 1000 is reached a little before the end of the physical travel limit Important Safety Warning Never apply a command that is lower than the sensor s minimum output value or higher than the sensor s maximum output value as the motor would turn forever try ing to reach a position it cannot Configure the
162. guration and Set Points KI PID Integral Gain This parameter sets the Integral Gain of the PID for that channel The value is set as the gain multiplied by 10 Syntax AKI cc nn KI Where cc Motor channel nn Gain 10 Allowed Range O to 250 2 50 Default Value 200 2 0 Example AKI 1 155 Set motor channel 1 Integral Gain to 15 5 KP PID Proportional Gain This parameter sets the Proportional Gain for that channel The value is entered as the gain multiplied by 10 Syntax KP cc nn KP Where cc Motor channel nn Gain 10 Allowed Range O to 250 2 50 Default Value 200 2 0 Example AKP 1 155 Set motor channel 1 Proportional Gain to 15 5 MAC Motor Acceleration Rate Set the rate of speed change during acceleration for a motor channel This command is identical to the AC realtime command Acceleration value is in 0 1 RPM per second When using controllers fitted with encoder the speed and acceleration value are actual RPMs Brushless motor controllers use the hall sensor for measuring actual speed and accelera tion will also be in actual RPM s When using the controller without speed sensor the acceleration value is relative to the Max RPM configuration parameter which itself is a userprovide number for the speed nor mally expected speed at full power Assuming that the Max RPM parameter is set to 1000 and acceleration value of 10000 means that the motor will go from 0 to full speed in exact
163. h for a selectable motor and direction use as a deadman switch emergency stop safety stop or invert direction Embedded in the parameter is the motor channel s to which the action should apply Syntax DINA cc aa mm DINA cc Where ce Input channel number aa 0 no action 1 safety stop emergency stop motor stop forward limit switch reverse limit switch invert direction run MicroBasic script 8 load counter with home value mm mot1 32 mot2 64 NOD OI pp ON Default Value 0 no action for each input Example DINA 1 33 Input 1 as safety stop for Motor 1 l e 33 1 safety stop 32 Motor Advanced Digital Motor Controllers User Manual 199 Commands Reference Robote DINL Digital Input Active Level This parameter is used to set the active level for each Digital input An input can be made to be active high or active low Active high means that pulling it to a voltage will trigger an action Active low means pulling it to ground will trigger an action This parameter is a sin gle number for all inputs Syntax DINL bb DINL Where bb L1 L2 2 L3 4 L4 8 L5 16 L6 32 and where Ln 0 input is active high 1 input is active low Default Value All inputs active high Example DINL 33 inputs 1 and 6 active low all others active high l e 33 1 output1 32 output6 DOA Digital Output Action This configuration parameter will
164. he counter is a 32 bit counter with a range of 2000000000 counts Syntax C cc Reply Cznn Where cc channel number nn absolute counter value CAN Read Raw CAN frame This query is used in CAN enabled controllers to read the content of a received CAN frame in the RawCAN mode See Using RawCAN Mode on page 118 Data will be available for reading with this query only after a CF query is first used to check how many received frames are pending in the FIFO buffer When the query is sent without arguments the controller replies by outputting all elements of the frame separated by colons Syntax CAN ee Reply CAN header bytecount data0 data1 data7 Where ee frame element 1 header 2 bytecount 3 to 10 dataO to data7 Examples Q CAN R CAN 5 4 11 12 13 14 0 0 0 0 Q CAN 3 R CAN 11 CB Read Absolute Brushless Counter On brushless motor controllers returns the running total of Hall sensor transition value as an absolute number The counter is a 32 bit counter with a range of 2000000000 counts Syntax CB Reply CB nn Where nn absolute counter value 176 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Queries CBR Read Brushless Count Relative On brushless motor controllers returns the number of Hall sensor transition value that have been measured from the last time this query was made Relative counter read is some
165. hecking COM2 device found Controller found on COM2 Resetting the controller done Waiting for device restart FIGURE 90 Update Controller Firmware window When updating via USB click on the Update firmware with USB This will cause the COM port to close and the device to disappear from PC utility The controller then enters a spe cial update mode and will automatically launch the Roboteq DFU Loader utility that is found in the Start menu Selecting and updating the file will perform the firmware update via USB After completion cycling power will restart the controller It will then be found by the PC utility Updating the Controller Logic The controller has a couple of programmable logic parts which can also be updated in the field Updating the logic must only be done only when the power stage is off and the con troller is powered only with the power control wire No I O must be connected on the front connectors either To update the logic click on the Update Power Board Logic or Update Controller Logic select the file and click on the Program button The log shows the steps that are taking place during the process The process last approximately 30 sec do not cancel the programming in the middle of programming even if it looks that there is no progress Can cel only after over a minute of inactivity Never turn off the power while programming is in progress Advanced Digital Motor Controllers Use
166. hen be changed on the fly if needed While in Open Loop enable the Speed channel in the Roborun Chart recorder Move the slider in the positive direction and verify that the measured speed polarity is also positive If a negative speed is reported swap the two encoder wires to change the measured polar ity or swap the motor leads to make the motor spin in the opposite direction Then use the PC Utility to select the Closed Loop Position Mode After saving to the con troller the motor will operate in Closed Loop and will attempt to go to the O counter posi tion Beware therefore that the motor has not already turned before switching to Closed Loop Reset the counter if needed prior to closing the loop Count Position Commands Moving the motor is done using a set of simple commands To go to an absolute encoder position value use the P command Syntax IP nn mm Advanced Digital Motor Controllers User Manual 103 Closed Loop Count Position Mode I RoboteQ Where nn motor channel mm absolute count position Example IP 1 10000 will get the motor to move to absolute counter position 10000 with a smooth ramp up and down so that the motor gently stops at count 10000 To go to a relative encoder position count that is relative to the current position use the IPR command Syntax IPR nn cc Where nn motor channel cc relative count position Example Sending PR 1 1000 repeatedly will cause the motor to mov
167. her with the Low Count Limit are also used in the position mode to determine the travel range when commanding the controller with a relative position command In this case the Low Limit Count is the desired position when a command of 000 is received Syntax AEHL cc nn EHL Where cc Channel number nn Counter value Default Value 20000 208 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Encoder Operations EHLA Encoder High Limit Action This parameter lets you select what kind of action should be taken when the upper bound ary of the counter is reached The list of action is the same as in the DINA digital input action list see DINA on page 199 Syntax EHLA cc nn EHLA cc Where cc Input channel number aa DIN Action List mm mot1 16 mot2 32 Default Value 0 no action for each encoder EHOME Encoder Counter Load at Home Position This parameter contains a value that will be loaded in the selected encoder counter when a home switch is detected or when a Home command is received from the serial USB or issued from a MicroBasic script Syntax EHOME cc nn EHOME Where ce channel number nn counter value to be loaded Default Value 0 ELL Encoder Low Count Limit This parameter allows you to define a minimum count value at which the controller will trig ger an action when the counter dips below that number This feature is useful for
168. ic configurations These include amps limiting acceleration deceleration settings or operating modes SECTION 7 Brushless Motor Connections and Operation This section addresses installation and operating issues specific to brushless motors It is applicable only to brushless motor controller models SECTION 8 Closed Loop Speed Mode This section focuses on the closed loop speed mode with feedback using analog speed Sensors or encoders Information is provided on how to setup a closed loop speed control System tune the PID control loop and operate the controller SECTION 9 Closed Loop Relative and Tracking Position Modes This section describes how to configure and operate the controller in position mode using analog pulse or encoder feedback In position mode the motor can be made to smoothly go from one position to the next Information is provided on how to setup a closed loop position system tune the PID control loop and operate the controller SECTION 10 Closed Loop Count Position Mode This section describes how to configure and operate the controller in Closed Loop Count Position mode Position command chaining is provided to ensure seamless motor motion SECTION 11 Closed Loop Torque Mode This section describes how to select configure and operate the controller in Closed Loop Torque mode SECTION 12 Serial RS232 USB Operation This section describes how to communicate to the controller via the RS232 or USB inter fa
169. ic function These are usually motor or operation commands that will have immediate effect e g to turn on the motor set a speed or activate digital output See Runtime Commands on page 164 for the full list and description of these commands Runtime queries These start with when called via the serial communication RS232 or USB or using the getvalue Microbasic function These are used to read operating values at runtime e g read Amps Volts power level counter values See Runtime Commands on page 164 for the full list and description of these commands Maintenance commands These are only available trough serial RS232 or USB and start with 96 They are used for all of the maintenance commands such as e g set the time save configuration to EEPROM reset load default etc Advanced Digital Motor Controllers User Manual 163 Commands Reference Robote Set Read Configuration commands non These start with for read and for write when called via the serial communication RS232 or USB or using the setcommand MicroBasic function They are used to read or configure all the operating parameters of the controller e g set or read amps limit See Set Read Configuration Commands on page 194 for the full list and description of these commands Runtime Commands Runtime commands are commands that can be sent at any time during controller opera tion and are taken into consideratio
170. igure 22 Use a 10kOhm Negative Coefficient Thermis tor NTC with the temperature resistance characteristics shown in the table below Rec ommended part is Vishay NTCLE100E3103JBO Digikey item BC2301 ND TABLE 3 Recommended NTC characteristics Temp oC 25 0 25 50 75 100 Resistance kOhm 129 32 5 10 00 3 60 1 48 0 67 48 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Connecting External Thermistor to Analog Inputs 45V Internal Resistors 10kOhm and Converter NTC Thermistor 20kOhm 10kOhm 33kOhm Ground FIGURE 22 NTC Thermistor wiring diagram Thermistors are non linear devices Using the circuit described on Figure 22 the controller will read the following values according to the temperature For best precision the analog input must be configured to read in Relative Mode The analog input must be configured so that the minimum range voltage matches the desired temperature and that an action be triggered when that limit is reached For exam ple 500mV for 800C according to the table The action can be any of the actions in the list An emergency or safety stop i e stop power until operator moves command to 0 would be a typical action to trigger Volts 4 5 4 3 5 3 2 5 FIGURE 23 Voltage reading by controller vs NTC temper
171. ime of the pulse regardless of the pulse period A Duty Cycle mode capture measures the On time of the pulse relative to the entire pulse period This mode is typically more precise as it compensates for the frequency drifts o the PWM oscillator PWM signals are then processed exactly the same way as RC pulses Refer to the RC pulse paragraphs above for reference Operating the Controller In Analog Mode Analog Command is the simplest and most common method when the controller is used in a non remote human operated system such as Electric Vehicles Input Analog Channel Selection The controller features 4 to 11 inputs depending on the model type that can be used for analog capture Using different configuration parameters any Analog input can be used as command for any motor channel The controller s factory default defines two channels as Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Operating the Controller In Analog Mode Analog command inputs Which channel and which pin on the input connector depends on the controller model and can be found in the controller s datasheet Changing the input assignment is done using the PC Configuration utility See Analog Inputs Configurations and Use on page 65 Input Analog Channel Configuration An Analog input can be Enabled or Disabled When enabled it can be configured to cap ture absolute voltage or voltage relative to the 5V ou
172. in execution loop The main element of a continuous script is the scanning of the input ports timers or con troller operating parameters If specific events are detected then the script jumps to steps related to these events Otherwise no action is taken Prior to looping back to the top of the loop it is highly recommended to insert a wait time The wait period should be only as short as it needs to be in order to avoid using processing resources unnecessarily For example a script that monitors the battery and triggers an output when the battery is low does not need to run every millisecond A wait time of 100ms would be adequate and keep the controller from allocating unnecessary time to script execution Optimizing Scripts for Integer Math Scripts only use integer values as variables and for all internal calculation This leads to very fast execution and lower computing resource usage However it does also cause limita tion These can easily be overcome with the following techniques First if precision is needed work with smaller units In this simple Ohm law example whereas 10V divided by 3A results in 3 Ohm the same calculation using different units will give a higher precision result 10000mV divided by 3A results in 3333 mOhm Second the order in which terms are evaluated in an expression can make a very big differ ence For example 10 20 1000 will produce a result of 0 while 10 1000 20 produces 5000 The two expr
173. ion describes all the configuration parameters that relate to the controller s power stage and that are common to both outputs in multi channel controllers TABLE 30 General Power Stage Configuration Commands Command Parameter Description BKD Delay Brake Activation Delay MXMD Mode Number Mixed Mode OVL Voltage Overvoltage Limit PWMF Frequency PWM Frequency THLD Level Short Circuit detection threshold UVL Voltage Undervoltage Limit BKD Brake Activation Delay Set the delay from the time a motor stops and the time an output connected to a brake solenoid will be released Syntax BKD nn BKD Where nn delay in milliseconds MXMD Separate or Mixed Mode Select This configuration parameter selects the mixed mode operation It is applicable to dual channel controllers and serves to operate the two channels in mixed mode for tank like steering There are 3 possible values for this parameter for selecting separate or one of the two possible mixed mode algorithms Syntax AMXMD nn MXMD Where nn 0 Separate 1 Mode 1 2 Mode 2 Default Value 0 separate Example AMXMD 0 Set mode to separate OVL Overvoltage Limit Overvoltage This number sets the voltage level at which the controller must turn off its power stage and signal an Overvoltage condition The number that can be entered is the value in volts multiplied by 10 e g 450 45 0V Syntax OVL nn OVL Where nn Volt 10
174. ion to typical Encoder Cable Length and Noise Considerations Cable should not exceed one 3 one meter to avoid electrical noise to be captured by the wiring A ferrite core filter must be inserted near the controller for length beyond 2 60 cm For longer cable length use an oscilloscope to verify signal integrity on each of the pulse channels and on the power supply Advanced Digital Motor Controllers User Manual 53 Connecting Sensors and Actuators to Input Outputs I RoboteQ Encoder Ferrite Core Controller FIGURE 29 Use ferrite core on cable length beyond 2 or 60cm Important Warning Excessive cable length will cause electrical noise to be captured by the controller and cause erratic functioning that may lead to failure In such situation stop operation immediately Motor Encoder Polarity Matching When using encoders for closed loop speed or position control it is imperative that when the motor is turning in the forward direction the counter increments its value and a posi tive speed value is measured The counter value can be viewed using the PC utility If the Encoder counts backwards when the motor moves forward correct this by either 1 Swapping Channel A and Channel B on the encoder connector This will cause the encoder module to reverse the count direction or 2 Swapping the leads on the motor This will cause the motor to rotate in the opposite direction 54 Advanced Dig
175. ional Gain will cause the algorithm to apply a higher level of power for a given measured error thus making the motor move quicker Because of inertia however a faster moving motor will have more difficulty stopping when it reaches its desired position It will therefore overshoot and possibly oscillate around that end position Advanced Digital Motor Controllers User Manual 99 Closed Loop Relative and Tracking Position Modes Robote Proportional Gain Analog Position Sensor or Optical Encoder Differential Gain The Differential component of the algorithm computes the changes to the error from one ms time period to the next This change will be a relatively large number every time an abrupt change occurs on the desired position value or the measured position value The value of that change is then multiplied by a userselectable Differential Gain and added to the output The effect of this part of the algorithm is to give a boost of extra power when starting the motor due to changes to the desired position value The differential component will also help dampen any overshoot and oscillation FIGURE 54 PID algorithm used in Position mode The Integral component of the algorithm performs a sum of the error over time In the posi tion mode this component helps the controller reach and maintain the exact desired posi tion when the error would otherwise be too small to energize the motor using the Proportional compo
176. ionally used to write shorter programs Advanced Digital Motor Controllers User Manual 135 MicroBasic Scripting I RoboteQ The complete details on the language can be found in the MicroBasic Language Reference on page 143 Source Program and Bytecodes Programs written in this Basic like language are interpreted into an intermediate string of Bytecode instructions that are then downloaded and executed in the controller This two step structure ensures that only useful information is stored in the controller and results in significantly higher performance execution over systems that interpret Basic code directly This structure is for the most part entirely invisible to the programmer as the source editing is the only thing that is visible on the PC and the translation and done in the background just prior to downloading to the controller The controller can store 8192 Bytecodes This translates to approximately 1500 lines of MicroBasic source Variables Types and Storage Scripts can store signed 32 bit integer variables and Boolean variable Integer variables can handle values up to 2 147483 647 Boolean variables only contain a True or False state The language also supports single dimensional arrays of integers and Boolean variables In total up to 1024 Integer variables and up to 1024 Boolean variables can be stored in the controller An array of n variables will take the storage space of n variables The language onl
177. ital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Input Command Modes and Priorities SECTION 4 Command Modes This section discusses the controller s normal operation in all its supported operating modes Input Command Modes and Priorities The controller will accept commands from one of the following sources Serial data RS232 USB MicroBasic script Pulse R C radio PWM Frequency Analog signal 0 to 5V Spektrum Radio on selected models CAN Interface One many or all command modes can be enabled at the same time When multiple modes are enabled the controller will select which mode to use based on a user select able priority scheme Setting the priorities is done using the PC configuration utility See Commands Parame ters on page 233 This scheme uses a priority table containing three parameters and let you select which mode must be used in each priority order During operation the controller reads the first priority parameter and switches to that command mode If that command mode is found to be active that command is then used If no valid command is detected the controller switches to the mode defined in the next priority parameter If no valid command is recog nized in that mode the controller then repeats the operation with the third priority parame ter If no valid command is recognized in that last mode the controller applies a default command value that can be
178. ition is periodically compared with the requested destination and power is applied to the motor using these two values in a PID control loop This mode will work best if changes in the commands are smooth and not much faster than what the motor can physically follow Position Mode Relative Control Loop Description The controller performs the Relative Position mode using a full featured Proportional Inte gral and Differential PID algorithm This technique has a long history of usage in control systems and works on performing adjustments to the Power Output based on the differ ence measured between the desired position set by the user and the actual position cap tured by the position sensor Figure 54 shows a representation of the PID algorithm Every 1 millisecond the controller measures the actual motor position and subtracts it from the desired position to compute the position error The resulting error value is then multiplied by a user selectable Proportional Gain The resulting value becomes one of the components used to command the motor The effect of this part of the algorithm is to apply power to the motor that is proportional with the dis tance between the current and desired positions when far apart high power is applied with the power being gradually reduced and stopped as the motor moves to the final posi tion The Proportional feedback is the most important component of the PID in Position mode A higher Proport
179. itive that is VAR is identical to var The scope of a variable extends whole the program Variables cannot be declared more than once in the program Arrays is special variables that holds a set of values of the variable type Arrays are declared using DIM command see Dim Variable Declaration on page 147 To access specific element in the array you can use the indexer square brackets Arrays indices are zero based so index of 5 refer to the 6th element of the array arr 0 10 Set the value of the first element in the array to 10 a arr 5 Store the 6th element of the array into variable a Terminology In the following sections we will introduce Micro Basic commands and how it is used and here is the list of terminology used in the following sections Micro Basic commands and functions will be marked in blue and cyan respectively Anything enclosed in is mandatory and must be supplied Advanced Digital Motor Controllers User Manual 145 MicroBasic Scripting I RoboteQ e Anything enclosed in is optional except for arrays where the square brackets is used as indexers e Anything enclosed in and separated by characters are multi choice options Any items followed by an ellipsis may be repeated any number of times e Any punctuation and symbols except those above are part of the structure and must be included var is any valid variable name including arrays arr is any vali
180. itted with the optional encoder module Analog tachometers are another technique for sensing speed See Connecting Tachome ter to Analog Inputs on page 47 Tachometer or Encoder Mounting Proper mounting of the speed sensor is critical for an effective and accurate speed mode operation Figure 48 shows a typical motor and tachometer or encoder assembly Advanced Digital Motor Controllers User Manual 87 Closed Loop Speed Mode Robote Analog Tachometer or Optical Encoder Speed feedback FIGURE 48 Motor and speed sensor assembly needed for Close Loop Speed mode Tachometer wiring The tachometer must be wired so that it creates a voltage at the controller s analog input that is proportional to rotation speed OV at full reverse 5V at full forward and O when stopped Connecting the tachometer to the controller is as simple as shown in the diagram below 1kOhm Internal Resistors and Converter Max Speed Adjust 10kOhm pot Zero Adjust 100 Ohm pot 1kOhm Ground FIGURE 49 Tachometer wiring diagram Brushless Hall Sensors as Speed Sensors On brushless motor controllers the Hall Sensors that are used to switch power around the motor windings are also used to measure speed and distance travelled Speed is evaluated by measuring the time between transition of the Hall Sensors A 32 bit up down counter is also updated at each Hall Sensor transition Speed information picked up
181. ity and the menu Operating Mode to select Torque Mode The controller will now use user commands from RS232 USB Analog or Pulse to command the motor current Commands are ranging from 1000 to 1000 The command is then scaled using the amps limit configuration value For example if the amps limit is set to 100A a user command of 500 will cause the con troller to energize the motor until 50A are measured If the motor is little loaded and the desired current cannot be reached the motor will run at full speed Torque Mode Tuning In Torque Mode the measured Motor Amps become the feedback in the closed loop sys tem The PID then operates the same way as in the other Closed Loop modes described in this manual See PID tuning in Position Mode on page 100 In most applications requiring torque mode the loop response does not need to be very quick and good results can be achieved with a wide range of PID gains The P and gains are the primary component of the loop in this mode Perform a first test using P 2 1 and D 0 and then adjust the and P gain as needed until satisfactory results are reached Configuring the Loop Error Detection In Torque Mode it is very likely that the controller will encounter situation where the motor is not sufficiently loaded in order to reach the desired amps In this case controller output will quickly rise to 100 while a significant Loop Error i e desired amps measured amps is pre
182. l Output Activated when motor s is powered to Activated when motor s is reversed DOUTn Activated when overvoltage Miror Status LED Deactivates when output stage fault User activated RS232 USB DIN1 Digital Input Safety Stop to Emergency sto DINn yap Motor Stop deadman switch Invert motor direction Forward or reverse limit switch Run MicroBasic Script Load Home counter AIN1 Analog Input Command for motor s pat Speed or position feedback n Trigger Action similar to Digital Input if under or over user selectable threshold PIN1 Pulse Input Command for motor s SN Speed or position feedback n Trigger Action similar to Digital Input if under or over user selectable threshold ENC1a b Encoder Inputs Command for motor s to Speed or position feedback ENC2a b j P ao Trigger action similar to Digital Input if under or over user selectable count threshold Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Connecting devices to Digital Outputs Connecting devices to Digital Outputs Depending on the controller model 2 to 8 Digital Ouputs are available for multiple pur poses The Outputs are Open Drain MOSFET outputs capable of driving over 1A at up to 24V See datasheet for detailed specifications Since the outputs are Open Drain the output will be pulled to ground when activated The load must therefore be
183. l output channels varies from one controller model to another and can be found in the product datasheet DR Read Destination Reached This query is used when chaining commands in Position Count mode to detect that a des tination has been reached and that the next destination values that were loaded in the buf fer have become active See Position Command Chaining on page 104 E Read Closed Loop Error In closed loop modes Speed or Position returns the difference between the desired speed or position and the measured feedback This query can be used to detect when the motor has reached the desired speed or position In open loop mode this query returns O Syntax E Reply E nn Where nn error Advanced Digital Motor Controllers User Manual 179 Commands Reference Robote F Read Feedback In Reports the value of the feedback sensors that are associated to each of the channels in closed loop modes The feedback source can be Encoder Analog or Pulse Selecting the feedback source is done in the encoder pulse or analog configuration parameters This query is useful for verifying that the correct feedback source is used by the channel in the closed loop mode and that its value is in range with expectations Syntax F cc Reply F nn Where cc channel number nn feedback values FF Read Fault Flag Reports the status of the controller fault conditions that can occur during operation The response to th
184. led Abs see Abs Function on page 153 Controller Configuration and Commands The following is a set of device functions for interacting with the Controller SetConfig Set a configuration parameter SetCommand Send a Real Time command GetConfig Read a configuration parameter GetValue Read an operating value Timers Commands The following is a set of functions for interacting with the timers SetTimerCount Set number of milliseconds for timer to count SetTimerState Set state of a specific timer GetTimerCount Read timer count GetTimerState Read state of a specific timer Option Compilation Options Micro Basic by default treats undeclared identifiers as integer variables If you want the compilers checks that every variable used in the program is declared and generate compila tion error if a variable is not previously declared you may use Option explicit compiler option by pacing the following at the beginning of the program Option Explicit Dim Variable Declaration Micro Basic contains only two types of variable Integer and Boolean in addition to arrays of these types Boolean and arrays must be declared before use but Integer variables may not be declared unless you use the Option Explicit compiler directive Dim var As Integer Boolean The following example illustrates how to declare Integer variable Dim intVar As Integer Advanced Digital Motor Controllers User Manual 147 MicroBasic Scripti
185. ler The 15 pin or 25 pin male connector plugs into the controller It is critical that you do not confuse the connector s pin numbering The pin numbers on the drawing are based on viewing the connectors from the front Most connectors brands have pin numbers molded on the plastic 112 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Serial Port Configuration DB9 Female DB15 Male DB9 Female DB25 Male To PC To Controller To PC To Controller 10 O1 10 O1 O6 90 O6 140 RX Data 2 a La arcw aa ah hee 2 Data Out RX Data 2 Q 1 2 Data Out O7 10O O3 15O TX Data 3 O O Dataln TX Data 3 O O Data In Os no Os 16O 40 O4 40 Qa Oe 120 O9 70 GND 5 ARnBn_ ts GND GND 5 O O 5 GND 13 0 18 O 40 e 190 ds 150 a ap 9T O5 20 08 9 220 Q O 10 230 on 240 O 12 250 O18 FIGURE 58 PC to controller RS232 cable connector wiring diagram The 9 pin to 15 pin cable is provided by Roboteg for controllers with 15 pin connectors Controllers with 25 pins connectors are fitted with a USB port that can be used with any USB cables with a type B connector Extending the RS232 Cable RS232 extension cables are available at most computer stores However you can easily build one using a 9 pin DB9 male connector a 9 pin DB9 female connector and any 3 con ductor cable DO NOT USE COMMERCIAL 9 PIN TO 25 PIN CONVERTERS as these do not match the 25 pin pinout of the controller The
186. lity is provided as a tool for easily configuring the Roboteq controller and running it for testing and troubleshooting purposes r I R Roborun c Jt 3 ili Work Offi Motor Control Utility oisi Rev 1 1 5 22 10 View Pinout Control Unit H Type Controller Model HDC2450 Configuration Run Console Scripting 7 v v RsusB Pulse Qo FETs0ff o o o 2786 Cmd O NC 0 Pint v 2791 Cmd2 0 NC 0 Pin2 ues ovevot Undervolt Short Gur 9 o qu a jit a lad Fi ta 0 NC 0 NC 0 Pina eo 02 Q5 Qo Qo Qo Qo Qoo Goo oos a eec a cies eEnc28 Gro Ges Gr Qro G 90 dous Qoous douse oms eor 0o Dinis Din19 Qoo oous 0 MTmp2 0 Ping Command ma f i IE Mute Q Ce Joystick 48 Stop Enable o a Sop Config ma Be Capture 100 U Ph EE ENS m Channel Value Min Max Or Pag t Bl Motor Command 1 ME 801 58 6 one i Bl Motor Power 1 Js 295 x B 40 5 Be z a50 4980 1485 E 2 vA ZEN BG I5 x d Bl Encoder Count 1 y 19934 66476 475487 E ar 7 Stes 0 0 0 e ers Bl Heatsink Temp 2 Bu a naka E Wi Controller Volt g 3 fan fae 80 E B Pause L Gear Chart SLUM paman poteet rete aano 1 a timen aaa aaa ra CES 3 Gert Found COMI COM2 COM2 is Open Firmware ID Roboteq v1 1 RCB500 05 24 2010 FIGURE 66 The Roborun Interface The screen has a header status bar and 4 ta
187. ll rise and that current increase can be detected and the motor be made to stop until the direction is reversed Programmable Acceleration amp Deceleration When changing speed command the controller will go from the present speed to the desired one at a user selectable acceleration This feature is necessary in order to minimize the surge current and mechanical stress during abrupt speed changes This parameter can be changed by using the PC utility Acceleration can be different for each motor A different value can also be set for the acceleration and for the deceleration The acceleration value is entered in RPMs per second In open loop installation where speed is not actually measured the acceleration value is relative to the Max RPM parame ter For example if the Max RPM is set to 1000 default value and acceleration to 2000 this means that the controller will go from O to 10096 power in 0 5 seconds Important Warning Depending on the load s weight and inertia a quick acceleration can cause consider able current surges from the batteries into the motor A quick deceleration will cause an equally large or possibly larger regeneration current surge Always experiment with the lowest acceleration value first and settle for the slowest acceptable value Advanced Digital Motor Controllers User Manual 77 Motor Operating Features and Options Robote Forward and Reverse Output Gain This parameter lets you sele
188. lliseconds have elapsed Script execution resumes at the instruction that follows the wait Execution Time Slot and Execution Speed Protections MicroBasic scripts are executed in the free time that is available every 1ms after the con troller has completed all its motion control processing The available time can therefore vary depending on the functions that are enabled or disabled in the controller configura tion For example more time is available for scripting if the controller is handling a single motor in open loop than if two motors are operated in closed loop with encoders At the end of the allocated time the script execution is suspended motor control functions are performed and scripts resumed An execution speed averaging 50 000 lines of MicroBasic code or higher per second can be expected in most cases No protection against user error is performed at execution time For example writing or reading in an array variable with an index value that is beyond the 1024 variables available in the controller may cause malfunction or system crash Nesting more than 64 levels of sub routines i e subroutines called from subroutines will also cause potential problems It is up to the programmer to carefully check the script s behavior in all conditions Print Command Restrictions A print function is available in the language for outputting script results onto the serial or USB port Since script execution is very fast it is eas
189. ltiple value parameters are numbered from 1 to n For example Amps limit for a motor channel or the configuration of an analog input channel ALIM 1 250 Sets Amps limit for channel 1 to 25 0A AAMIN 4 2000 Sets low range of analog input 4 to 2000 Using O as the first parameter value will cause all elements to be loaded with the same content ADB O 10 Sets the deadband of all analog inputs to 1096 Important Notice Saving configuration into EEPROM can take up to 20ms per parameter The control ler will suspend the loop processing during this time potentially affecting the con troller operation Avoid saving configuration to EEPROM during motor operation Reading Configurations Configuration parameters are read by issuing the character followed by the command name and with an optional channel number parameter If no parameter is sent the control ler will give the value of all channels If a channel number is sent the controller will give the value of the selected channel 194 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Command Inputs Configuration and Safety The reply to parameter read command is the command name followed by z followed by the parameter value When the reply contains multiple values then the different values are n n separated by The list below describes every configuration command of the controller For example ALIM Re
190. lue of that change is then multiplied by a user selectable Differential Gain and added to the out put The effect of this part of the algorithm is to give a boost of extra power when starting the motor due to changes to the desired speed value The differential component will also greatly help dampen any overshoot and oscillation Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ PID tuning in Speed Mode The Integral component of the algorithm performs a sum of the error over time This com ponent helps the controller reach and maintain the exact desired speed when the error is reaching zero i e measured speed is near to or at the desired value Proportional Output Tachometer or Optical Encoder Differential Gain FIGURE 50 PID algorithm used in Speed mode PID tuning in Speed Mode As discussed above three parameters Proportional Gain Integral Gain and Differential Gain can be adjusted to tune the Closed Loop Speed control algorithm The ultimate goal in a well tuned PID is a motor that reaches the desired speed quickly without overshoot or oscillation Because many mechanical parameters such as motor power gear ratio load and inertia are difficult to model tuning the PID is essentially a manual process that takes experimenta tion The Roborun PC utility makes this experimentation easy by providing one screen for chang ing the Proportional Integral an
191. ly 1 second regardless of the actual motor speed Syntax AMAC cc nn MAC cc Where ce Motor channel nn Acceleration time in 0 1 RPM per seconds Allowed Range 100 to 32000 Advanced Digital Motor Controllers User Manual 219 Commands Reference IRo boteQ MDEC Motor Deceleration Rate This parameter sets the motor deceleration It is the same as MACC but for when the motor goes from a high speed to a lower speed Syntax AMDEC cc nn MDEC cc Where cc Motor channel nn Deceleration time in 0 1 RPM per second Allowed Range 100 to 32000 MMOD Operating Mode This parameter lets you select the operating mode for that channel Syntax AMMOD cc nn MMOD cc Where cc motor channel nn 0 open loop speed 1 closed loop speed closed loop position relative closed loop count position closed loop position tracking torque O1 Bb ON Default Value All motors in open loop speed mode Examples MMOD 2 MVEL Default Position Velocity This parameter is the default speed at which the motor moves while in position mode Val ues are in RPMs To change velocity while the controller is in operation use the S runtime command Syntax AMVEL cc nn MVEL cc Where cc Motor Channel May be omitted in single channel controllers nn Velocity value in RPM MXPF Motor Max Power Forward This parameter lets you select the scaling factor for the power output in the forward direc
192. m looks for the size of the tracking error and the duration the error is present This parameter allows three combination of time amp error level Syntax CLERD cc nn CLERS Where cc channel nn 0 Detection disabled 1 250ms at Error gt 100 2 500ms at Error gt 250 3 1000ms at Error gt 500 Default Value 2 Example ACLERD 2 Motor will stop if command feedback is greater than 100 for more than 250ms ICAP PID Integral Cap This parameter is the integral cap as a percentage This parameter will limit maximum level of the Integral factor in the PID It is particularly useful in position systems with long travel movement and where the integral factor would otherwise become very large because of the extended time the integral would allow to accumulate This parameter can be used to dampen the effect of the integral parameter without reducing the gain Syntax AICAP cc nn ICAP cc Where ce Motor channel nn Integral cap in Allowed Range 1 to 100 Default Value 100 KD PID Differential Gain This is the Differential Gain for that channel The value is set as the gain multiplied by 10 Syntax KD cc nn KD Where cc Motor channel nn Gain 10 Allowed Range O to 250 2 50 Default Value 200 2 0 Example KD 1 155 Set motor channel 1 Differential Gain to 15 5 218 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Motor Channel Confi
193. mber Read Case amp Internal Temperatures TM Channel Read Time TR Channel Read Position Relative Tracking TRN None Read Power Unit Tree filename V Sensor Number Read Internal Voltages VAR Variable Number Read User Variable A Read Motor Amps Measures and reports the motor Amps for all operating channels Note that the current flowing through the motors is often higher than this flowing through the battery Syntax A cc Reply A aa Where cc motor channel aa Amps 10 for each channel Examples Q A R Az100 200 Q A2 R A 2200 Notes Single channel controllers will report a single value Sepex controllers report the motor Amps and the Field excitation Amps Advanced Digital Motor Controllers User Manual 173 Commands Reference I RoboteQ Some power board units measure the Motor Amps and calculate the Battery Amps while other models measure the Battery Amps and calcu late the Motor Amps The measured Amps is always more precise than the calculated Amps See controller datasheet to find which Amps is measured by your particular model AI Read Analog Input Reports the raw value in mV of each of the analog inputs that are enabled Input that is dis abled will report O Syntax Al cc Reply Al nn Where ce Analog Input number nn millivolt for each channel Allowed Range O to 5000mV Notes The total number of Analog input channels varies from one controller model to another and can be
194. me values MG Emergency Stop Release The MG command will release the emergency stop condition and allow the controller to return to normal operation Syntax IMG MS Stop in All Modes The MS command is similar to the EX command except that it is applied to the specified motor channel see EX Emergency Stop on page 168 Syntax IMS nn Where nn motor channel P Go to Absolute Desired Position This command is used in the Position Count mode to make the motor move to a specified encoder count value Advanced Digital Motor Controllers User Manual 169 Commands Reference Robote Syntax Where Example IP nn mm nn motor channel mm absolute count destination IP 1 10000 make motor go to absolute count value 10000 PR Go to Relative Desired Position This command is used in the Position Count mode to make the motor move to an encoder count position that is relative to its current desired position Syntax Where Examples Note PR nn cc nn motor channel cc relative count position IPR 1 10000 while motor is stopped after power up and counter O motor 1 will go to 10000 IPR 2 10000 while previous command was absolute goto position P 2 5000 motor will go to 15000 Beware that counter will rollover at counter values 2 147 483 648 PRX Next Go to Relative Desired Position This command is similar to PR except that it stores a relative count value
195. mmands for running as stopping scripts are e Ir Start or Resume Script e Ir0 Pause Script execution e r1 Resume Script from pause point All integer and Boolean variables have val ues they had at the time the script was paused e Ir2 Restarts Script from start Set all integer variables to O sets all Boolean vari ables to False Clears and stops the 4 timers If the controller is connected to a microcomputer it is best to have the microcomputer start script execution by sending the r command via the serial port or USB Scripts can be launched automatically after controller power up or after reset by setting the Auto Script configuration to Enable in the controller configuration memory When enabled if a script is detected in Flash memory after reset script execution will be enabled and the script will run as when the r command is manually entered Once running scripts can be paused and resumed using the commands above Important Warning Prior to set a script to run automatically at start up make sure that your script will not include errors that can make the controller processor crash Once set to auto matically start a script will always start running shortly after power up If a script contains code that causes system crash the controller will never reach a state where it will be possible to communicate with it to stop the script and or load a new one If this ever happens the only possible recovery is to connect
196. mmands require a Configuration Item and an optional Index as parameters The Configuration Item can be one of the valid controller configuration commands listed in the Command Reference Section Refer to Set Read Configuration Commands on page 194 for syntax Simply add the underscore character to read or write this configuration from within a script The Index is used to select one of the Configuration Item in multi channel configurations When accessing a configuration parameter that is not part of an array index can be omitted or an index value of O can be used Details on the various configurations items their effects and acceptable values can be found in the Controller s User Manual Note that most but not all configuration parameters are accessible via the SetConfig or GetConfig function No check is performed that the value you store is valid so this function must be handled with care When setting a configuration parameter the new value of the parameter must be given in addition to the Configuration Item and Index Advanced Digital Motor Controllers User Manual 161 MicroBasic Scripting Robote GetConfig ConfigurationItem Index value SetConfig ConfigurationItem Index Accel2 GetConfig MAC 2 Read Acceleration parameter for Motor 2 PWMFreq GetConfig PWMF Read Controller s PWM frequency SetConfig MAC 2 Accel2 2 Make Motor2 acceleration twice as slow SetTimerCount GetTimerCount The
197. mportant Notice On shared l O pins there is nothing stopping one input to be used as analog or pulse at the same time or for two separate inputs to act identically or in conflict with one another While such an occurrence is normally harmless it may cause the con troller to behave in unexpected manner and or cause the motors not to run Care must be exercised in the configuration process to avoid possible redundant or con flictual use Digital Inputs Configurations and Uses Each of the controller s digital Inputs can be configured so that they are active high or active low Each output can also be configured to activate one of the actions from the list in the table below In multi channel controller models the action can be set to apply to any or all motor channels TABLE 5 Digital Input Action List Applicable Action Channel Description No Action Input causes no action Safety Stop Selectable Stops the selected motor s channel until command is moved back to 0 or command direction is reversed Emergency stop All Stops the controller entirely until controller is powered down or a special command is received via the serial port Motor Stop deadman Selectable Stops the selected motor s while the input is active switch Motor resumes when input becomes inactive Invert motor direction Selectable Inverts the motor direction regardless of the command mode in used Forward limit switch Selec
198. n immediately Runtime commands start with and are followed by one to three letters Runtime commands are also used to refresh the watchdog timer to ensure safe communication Runtime commands can be called from a MicroBasic script using the setcommand function TABLE 19 Runtime Commands Command Arguments Description AC Channel Acceleration Set Acceleration AX Channel Acceleration Next Acceleration B Variable Number Value Set User Boolean Variable BND None Spektrum Radio Bind C Channel Counter Set Encoder Counters CB Counter Set Brushless Counter CS Variable Number Data CAN Send DO BitNumber Reset Individual Digital Out bits D1 BitNumber Set Individual Digital Out bits DC Channel Deceleration Set Deceleration DS Value Set all Digital Out bits DX Channel Deceleration Next Deceleration EES None Save Configuration in EEPROM EX None Emergency Shutdown G Channel Command Set Motor Command H Channel Load Home counter MG None Release Shutdown MS Channel Stop in All Modes P Channel Position Set Position PR Channel Position Go to Relative Desired Position PRX Channel Position Next Go to Relative Desired Position PX Channel Position Next Go to Absolute Desired Position R Mode MicroBasic Run S Channel Velocity Set Velocity SX Channel Velocity Next Velocity VAR Variable Number Value Set User Variable 164 Advanced Digital Motor Controllers Use
199. nal gain with only lit tle Integral gain and smaller or no Derivative gain See PID tuning in Position Mode on page 100 Advanced Digital Motor Controllers User Manual 105 Closed Loop Count Position Mode Robote 106 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Torque Mode Description SECTION 11 Closed Loop Torque Mode This section describes the controller s operation in Torque Mode Torque Mode Description The torque mode is a special case of closed loop operation where the motor command controls the current that flows though the motor regardless of the motor s actual speed In an electric motor the torque is directly related to the current Therefore controlling the current controls the torque Command Output Driver Motor Amps FIGURE 55 Torque mode Torque mode is mostly used in electric vehicles since applying a higher command gives more push similarly to how a gas engine would respond to stepping on a pedal Like wise releasing the throttle will cause the controller to adjust the power output so that the zero amps flow through the motor In this case the motor will coast and it will take a nega tive command i e negative amps to brake the motor to a full stop Advanced Digital Motor Controllers User Manual 107 Closed Loop Torque Mode Robote Torque Mode Selection Configuration and Operation Use the PC util
200. nal to turn the controller Off and keep it Off Important Warning Unless you can ensure a steady voltage that is higher than 7V in all conditions it is recommended that the battery used to power the controller s electronics be separate from the one used to power the motors This is because it is very likely that the motor batteries will be subject to very large current loads which may cause the volt age to eventually dip below 7V as the batteries charge drops The separate backup power supply should be connected to the Power Control input This warning applies to all controllers except the SDCxxxx models Connecting the Motors Refer to the datasheet for information on how to wire the motor s to a particular motor controller model After connecting the motors apply a minimal amount of power using the Roborun PC util ity with the controller configured in Open Loop speed mode Verify that the motor spins in the desired direction Immediately stop and swap the motor wires if not In Closed Loop Speed or Position mode beware that the motor polarity must match this of the feedback If it does not the motors will runaway with no possibility to stop other than switching Off the power The polarity of the Motor or of the feedback device may need to be changed Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Single Channel Operation Important Warning Make sure that your motor
201. ncoder counter 1 CB Set Brushless Counter This command loads the brushless counter with the value contained in the command argu ment Beware that changing the controller value while operating in closed loop mode can have adverse effects Syntax ICB nn mm Where nn motor channel mm counter value Example ICB 1000 Loads 1000 in brushless counter ICB 0 Clears brushless counter CS CAN Send This command is used in CAN enabled controllers to build and send CAN frames in the RawCAN mode See Using RawCAN Mode on page 118 It can be used to enter the header bytecount and data one element at a time The frame is sent immediately after the bytecount is entered and so it should be entered last Syntax ICS ee nn Where ee frame element 1 header 2 bytecount 3 to 10 dataO to data7 nn value Examples ICS15 Enter 5 in header ICS 32 Enter 2 in Data 0 166 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Commands ICS 43 Enter 3 in Data 1 ICS22 Enter 2 in bytecount Send CAN data frame DO Reset Individual Digital Out bits The DO command will turn off the single digital output selected by the number that follows Syntax IDO nn Where nn output number Examples IDO 2 will turn output 2 to O D1 Set Individual Digital Out bits The D1 command will activate the single digital output that is selected by the parameter that follows Synt
202. nd is a duplication of the EESAV maintenance command See EESAV Save Configuration in EEPROM on page 191 It is provided as a Real Time command as well in order to make it possible to save configuration changes from within MicroBasic scripts Syntax IEES Note Do not save configuration while motors are running Saving to EEPROM takes several milliseconds during which the control loop is suspended EX Emergency Stop The EX command will cause the controller to enter an emergency stop in the same way as if hardware emergency stop was detected on an input pin The emergency stop condition will remain until controller is reset or until the MG release command is received Syntax IEX G Go to Speed or to Relative Position G is the main command for activating the motors The command is a number ranging 1000 to 1000 so that the controller respond the same way as when commanded using Analog or Pulse which are also 1000 to 1000 commands The effect of the command dif fers from one operating mode to another n Open Loop Speed mode the command value is the desired power output level to be applied to the motor n Closed Loop Speed mode the command value is relative to the maximum speed that is stored in the MXRPM configuration parameter In Closed Loop Position Relative and in the Closed Loop Tracking mode the command is the desired relative destination position mode The G command has no effect in the Position Count mode
203. near Linearity 2 Linear FIGURE 78 Commands parameters Advanced Digital Motor Controllers User Manual 233 Using the Roborun Configuration Utility Robote Then a number of Command Safety parameters can be configured These are the Watch dog timeout when receiving Serial commands and the safety ranges for analog com mands 4 9 Command Safety 4 d RS232 Safety Watchdog ms 1000 4 y Pulse Safety Keep within Min Max Disabled 49 Analog Safety Center to Start Disabled Keep within Min Max Disabled FIGURE 79 Command Safety parameters The Telemetry parameter contains the string that is executed whenever controller is first powered up This parameter is typically loaded with a series of real time queries that the the controller automatically and periodically perform Queries must be separated with the colon character The string is normally terminated with the command to repeat st followed by the repeated rate in milliseconds See TELS Telemetry String on page 198 and Query History Commands on page 188 for details on Telemetry 4 5 Telemetry Telemetry String a v t 10 FIGURE 80 Telemetry Encoder Parameters nu See Encoder Operations on page 208 for details on this group of parameters In the Encoder node are all the parameters relevant to the usage of the encoder The first parameter is the Use and is used to select what this encoder will be used for and to which motor ch
204. nent alone Only a very small amount of Integral Gain is typically required in this mode In systems where the motor may take a long time to physically move to the desired posi tion the integrator value may increase significantly causing then difficulties to stop without overshoot The Integrator Limit parameter will prevent that value from becoming unneces sarily large PID tuning in Position Mode As discussed above three parameters Proportional Gain Integral Gain and Differential Gain can be adjusted to tune the position control algorithm The ultimate goal in a well tuned PID is a motor that reaches the desired position quickly without overshoot or oscilla tion Because many mechanical parameters such as motor power gear ratio load and inertia are difficult to model tuning the PID is essentially a manual process that takes experimenta tion 100 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ PID Tuning Differences between Position Relative and Position Tracking The Roborun PC utility makes this experimentation easy by providing one screen for chang ing the Proportional Integral and Differential gains and another screen for running and monitoring the motor When tuning the motor first start with the Integral and Differential Gains at zero increas ing the Proportional Gain until the motor overshoots and oscillates Then add Differential gain until there is no more over
205. ng I RoboteQ Arrays declaration uses a different syntax where you should specify the array length between square brackets Array length should be integer value greater than 1 Dim arr n As Integer Boolean The following example illustrates how to declare array of 10 integers Dim arr 10 As Integer To access array elements get set you may need to take a look to Arrays section see Arrays on page 145 Variable and arrays names should follow specification stated in the Variables section see Variables on page 145 If Then Statement Line If If condition Then stmt Else stmt e Block If If condition Then lt block gt ElseIf condition Then lt block gt ElseIf lt condition gt Then lt block gt Else lt block gt End If An If Then statement is the basic conditional statement If the expression in the If statement is true the statements enclosed by the If block are executed If the expression is false each of the ElseIf expressions is evaluated If one of the ElseIf expressions evaluates to true the corresponding block is executed If no expression evaluates to true and there is an E1se block the E1se block is executed Once a block finishes executing execution passes to the end of the If Then statement The line version of the If statement has a single statement to be executed if the If expression is true and an optional statement to b
206. ng a low DC current around 1A between any two wires of the 3 that go to the motor and then counting the number of cogs you feel when rotating the motor by hand for a full turn It can also be determined by rotating the motor shaft by hand a full turn Then take the number of counts reported by the hall counter and divide it by 6 The number of poles is a configuration parameter that can be entered in the controller con figuration see BPOL on page 213 This parameter is not needed for basic motor opera tion and can be left at its default value It is needed if accurate speed reporting is required or to operate in Closed Loop Speed mode Entering a negative number of poles will reverse the measured speed and the count direc tion It is useful when operating the motor in closed loop speed mode and if otherwise a negative speed is measured when the motor is moved in the positive direction Hall Sensor Wiring Hall sensors connection requires 5 wires on the motor e Ground e Sensor1 Output e Sensor2 Output 82 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Brushless Motor Introduction e Sensor3 Output e power supply Sensor outputs are generally Open Collector meaning that they require a pull up resistor in order to create the logic level 1 Pull up resistor of 4 7K ohm to 5V are incorporated inside all controllers Additionally 1nF capacitors to ground are present at the contr
207. ng the controller much more intuitive by using pull down menus buttons and sliders The utility can also be used to update the controller s software in the field as described in Updating the Controller s Firmware on page 241 System Requirements To run the utility the following is needed e PC compatible computer running Windows 98 ME 2000 XP Vista or Windows7 AUSB connector for controllers with USB connectivity e An unused serial communication port on the computer with a 9 pin female connec tor for controllers using RS232 communication An Internet connection for downloading the latest version of the Roborun Utility or the Controller s Software 5 Megabytes of free disk space If the PC is not equipped with an RS232 serial port one may be added using a USB to RS232 converter Downloading and Installing the Utility The Configuration Utility must be obtained from the Support page on Roboteq s web site at www roboteq com Download the program and run the file setup exe inside the Roborun Setup folder Follow the instructions displayed on the screen Advanced Digital Motor Controllers User Manual 225 Using the Roborun Configuration Utility Robote grams 5 Roboteq The controller does not need to be connected to the PC to start the Utility The Roborun Interface Header Tabs Status After the installation is complete run the program from your Start Menu gt Pro The Roborun uti
208. nput action list Embedded in the parameter is the motor channel s to which the action should apply Syntax PMAXA cc aa mm PMAXA cc Where cc Input channel number aa DIN Action List mm mot1 16 mot2 32 Default Value No action on all channels PMIN Pulse Min Range This sets the raw value of the pulse capture that would be considered as the 1000 internal value to the controller The value is in number of microseconds 1000 1ms Maximum captured value is 65000 The default value is 1000 microseconds which is the minimum value on an RC radio pulse Syntax APMIN cc nn PMIN cc Where nn 0 to 65000us Default Value 1000ys PMINA Action at Pulse Min This parameter selects what action should be taken if the minimum value that is defined in PMIN is reached The list of action is the same as these of the DINA digital input actions see DINA on page 199 Embedded in the parameter is the motor channel s to which the action should apply Syntax PMINA cc aa mm PMINA cc Where ce Input channel number aa DIN Action List mm mot1 16 mot2 32 Default Value No action on all channels PMOD Pulse Mode Select This parameter is used to enable disable the pulse input and select its operating mode which can be pulse with measurement frequency or duty cycle Inputs can be measured with a high precision over a large range of time or frequency An input will be processed and converted t
209. nsors and Actuators to Input Outputs 41 Controller CONNECTIONS vex vais ee ba taeda Roe m RR RR eee eee 41 Controller s Inputs and OUtpUtS 0 es 42 Connecting devices to Digital Outputs eee es 43 Connecting Resistive Loads to Outputs 2 1 eee eee 43 Connecting Inductive loads to Outputs ee eee 43 Connecting Switches or Devices to Inputs shared with Outputs 44 Connecting Switches or Devices to direct Digital Inputs 44 Connecting a Voltage Source to Analog Inputs 00 cece ee eee 45 Connecting Potentiometers to Analog Inputs 46 Connecting Potentiometers for Commands with Safety band guards 46 Connecting Tachometer to Analog Inputs 0 cece eee eee 47 Connecting External Thermistor to Analog Inputs llle 48 Using the Analog Inputs to Monitor External Voltages 50 Connecting Sensors to Pulse Inputs llle 50 Connecting to RC R dloS x us rare rep hen RR RR RR 50 Connecting to PWM Joysticks and Position Sensors 51 Connecting Optical Encoders ee eee eee 51 Optical Incremental Encoders Overview eee eee eee eee 51 Recommended Encoder Types cece eee eee eee 52 Connecting the Encoder i cli ld rm REFERRE EET 53 Cable Length and Noise Considerations leere 53 Motor Encoder Polarity Matching 20 cece ee ee eee eee 54 Command MODES paa na aa naaa te iie ieee REESE
210. ntax BLLA nn BLLA Where aa DIN Action List Default Value 0 no action 212 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Brushless Specific Commands BLSTD Brushless Stall Detection This parameter controls the stall detection of brushless motors If no motion is sensed i e counter remains unchanged for a preset amount of time while the power applied is above a given threshold a stall condition is detected and the power to the motor is cut until the command is returned to 0 This parameter allows three combination of time amp power sen sitivities Syntax BLSTD nn BLSTD Where nn 0 Disabled 1 250ms at 1096 Power 2 500ms at 25 Power 3 1000ms at 5096 Power Default Value 2 Example BLSTD 2 Motor will stop if applied power is higher than 1096 and no motion is detected for more than 250ms BPOL Number of Poles of Brushless Motor and Speed Polarity This parameter is used to define the number of poles of the brushless motor connected to the controller This value is used to convert the hall sensor transition counts into actual RPM and number of motor turns Entering a negative number will invert the measured speed polarity Syntax BPOL nn BPOL Where nn Number of poles Default Value 2 Advanced Digital Motor Controllers User Manual 213 Commands Reference I RoboteQ General Power Stage Configuration Commands This sect
211. ntroller will lock the configuration and store the key inside the controller in area which cannot be accessed Once locked the controller will no longer respond to configuration reads However it is still possible to store or to set new configurations Syntax LK secretkey Where secretkey 32 bit number 1 to 4294967296 Examples LK 12345 LK 2343567345 Notes The controller must be unlocked for this command to work The O value is reserved as the unlocked key Advanced Digital Motor Controllers User Manual 191 Commands Reference IRo boteQ RESET Reset Controller This command will cause the controller to reset similarly as if it was powered OFF and ON This command must be used with care and must be followed by a 9 digit safety key to pre vent accidental reset Syntax RESET safetykey Where safetykey 321654987 Example RESET 321654987 STIME Set Time This command sets the time inside the controller s clock that is available in some controller models The clock circuit will then keep track of time as long as the clock remains under power The clock is a single 32 bit counter in which the number of seconds from a preset day and time is stored for example 02 01 00 at 3 00 Syntax STIME nn Where nn number of seconds UK Unlock Configuration Access This command will release the lock and make the configuration readable again The com mand must be followed by the secret key which will be mat
212. nvention for brushless motors It often is the case that the motor will correctly operate when wiring the Advanced Digital Motor Controllers User Manual 83 Brushless Motor Connections and Operation I RoboteQ controller s sensor inputs HA HB HC and the controller s U V W outputs in the same order as what is marked the motor or leads if such an order is provided If this is not the case then the wire order must be determined by trial and error To do this you can either connect the motor wires permanently and then try different combination of Hall sensor wiring or you can connect the Hall sensors permanently and try different com binations of motor wiring There is a total of 6 possible combinations of wiring three sen sors on three controller inputs There are also 6 possible combinations of wiring three motor wires on three controller outputs Only one of the 6 combinations will work correctly and smoothly while allowing the controller to drive the motor in both directions Try the different combinations while applying a low amount of power 5 to 1096 Applying too high power may trigger the stall protection see below Be careful not to have the motor output wires touch each other and create a short circuit Once a combination that make the motor spin is found increase the power level and verify that rotation is smooth at very slow speed and at high speed and in both directions Important Notice Beware that whil
213. o a command or a feedback value in the range of 1000 to 1000 for use by the controller internally Syntax APMOD cc nn PMOD cc Advanced Digital Motor Controllers User Manual 207 Commands Reference I RoboteQ Where nn 0 Disabled 1 Pulse width 2 Frequency 3 Period PPOL Pulse Input Polarity Inverts the pulse capture value after conversion When this configuration bit is cleared the pulse capture is converted into a 1000 to 1000 command or feedback value When set the converted range is inverted to 1000 to 1000 Syntax PPOL cc nn PPOL Where ce pulse channel number nn 0 not inverted 1 inverted Encoder Operations The following parameters are used to configure encoder and functions that are enabled by the encoders TABLE 28 Encoder Operation Command Set Arguments ALES Description EHL Channel EncHighLimit Channe Encoder High Limit EHLA Channel EncHiLimAction Channe Encoder High Limit Action EHOME Channel HomeCount Channe Encoder Counter Load at Home Position ELL Channel EncLowLimit Channe Encoder Low Limit ELLA Channel EncLoLimAction Channe Encoder Low Limit Action EMOD Channel EncoderUse Channe Encoder Use EPPR Channel EncoderPPR Channe Encoder PPR EHL Encoder High Count Limit This parameter is the same as the ELL except that it defines an upper count boundary at which to trigger the action This value toget
214. oder Speed RPM Reports the actual speed measured by the encoders as the actual RPM value Syntax S cc Reply S vv vv Where cc channel number vv speed in RPM Notes To report RPM accurately the correct Pulses per Revolution PPR must be stored in the encoder configuration SR Read Encoder Speed Relative Returns the measured motor speed as a ratio of the Max RPM configuration parameter see MXRPM Max RPM Value on page 221 The result is a value of between 0 and 1000 As an example if the Max RPM is set at 3000 inside the encoder configuration parameter and the motor spins at 1500 RPM then the returned value to this query will be 500 which is 50 of the 3000 max Note that if the motor spins faster than the Max RPM the returned value will exceed 1000 However a larger value is ignored by the controller for its internal operation Syntax SR cc Reply SR vv vv Where cc channel number vv speed relative to max T Read Temperature Reports the temperature at each of the Heatsink sides and on the internal silicon chips The reported value is in degrees C with a one degree resolution Syntax T cc Reply T tm t1 t2 Where cc temperature channel tm internal ICs t1 channel side t2 channel2 side Notes On some controller models additional temperature values are reported These are measured at different interval points and not documented You may safely ignore this extra data Other c
215. oe ee eae eee 124 shit TI cS 124 Heartbeat Lp EU RI Rae ULA LS FER Runs 125 A tosta ssi RI ARNAN E Edu NEIGE RE RR 125 CAN Bus PinoUt illac RE X hb eee RYAN NA a ae 125 CAN and USB Limitations 2 0 ec teens 126 Commands Accessible via CANOPEN 1 eee 126 CANopen Message lypes 2 cece eee teen nnne 127 Service Data Object SDO Read Write Messages 127 Transmit Process Data Object TPDO Messages 127 Receive Process Data Object RPDO Messages 128 Object DIGtIOBaty s s aaa KAB eo rox hie e eR near vU e bai 129 SECTION 15 MigroBasic SENptING 3 uo oce ee ce e eared ees Cc UR 135 Script Structure and Possibilities clle 135 Source Program and Bytecodes lessen 136 Variables Types and Storage lessen 136 Variable content after Reset a eee 136 Controller Hardware Read and Write Functions 136 TIMETS ANA Walit e sumere uk RF ES VRPT RIS NG 137 Execution Time Slot and Execution Speed llsn 137 Protections iua E ame URGE SES Ra RU GR EE ROS bee s 137 Print Command Restrictions rsrsrsrsrs srian ees 137 Editing Building Simulating and Executing Scripts 138 Edititig CPIS n a exe ERU RR NN AG eco siden eee Aa 138 Building Scripts aa aee ue RR RU RR RR RR RR E Ren 138 SIMULATING SGPiS seere pouce Ea meer ier ce RA RUE TN dase TERRIER See A 138 Downloading MicroBasic Scripts to the controller
216. oller s input in order to remove high frequency spikes which may be induced by the switching at the motor wires The controller s input buffers are Schmitt triggers to ensure a clean transition between high and low 5V Out HA HB HC GND FIGURE 47 Hall sensor inputs equivalent circuit Hall sensors can typically be powered over a wide voltage range The controller supplies 5V for powering the Hall sensors Hall sensor connection to the controller is done using Molex Microfit 3 0 connectors These high quality connectors provide a reliable connection and include a lock tab for secure operation The connector pinout is shown in the controller model s datasheet Important Warning Keep the Hall sensor wires away from the motor wires High power PWM switching on the motor leads will induce spikes on the Hall sensor wires if located too close On hub motors where the Hall sensor wires are inside the same cable as the motor power wires separate the two sets of wires the nearest from the motor as possible Important Notice Make sure that the motor sensors have a digital output with the signal either at 0 or at 1 as usually is the case Sensors that output a slow changing analog signals will cause the motor to run imperfectly Hall Sensor Wiring Order The order of the Hall sensors and these of the motor connections must match in order for the motor to spin Unfortunately there is no standard naming and ordering co
217. oltage generated by an outside device or sensor The relative mode is the mode to use when a sensor or a potentiometer is powered using the controller s 5V output of the controller Using the relative mode gives a correct sensor reading even though the 5V output is imprecise Syntax AAMOD cc nn AMOD cc Where cc channel number nn 0 disabled 1 absolute 2 relative Example AAMOD 1 1 Analog input 1 enabled in absolute mode APOL Analog Input Polarity Inverts the analog capture polarity value after conversion When this configuration bit is cleared the pulse capture is converted into a 1000 to 1000 command or feedback value When set the converted range is inverted to 1000 to 1000 Syntax AAPOL cc nn APOL Where cc analog channel number nn 0 not inverted 1 inverted 204 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Pulse Input Configuration Pulse Input Configuration These configuration commands are used to define the operating mode for the pulse inputs TABLE 27 Pulse Input Configuration Command Set Arguments Get Argument Description PCTR InputNbr Center InputNbr Pulse Center PDB InputNbr Deadband InputNbr Pulse Deadband PINA InputNbr Action InputNbr Pulse Input Actions PLIN InputNbr Linearity InputNbr Pulse Linearity PMAX InputNbr Max InputNbr Pulse Max PMAXA InputNbr Action InputNbr Action on Pulse
218. ommand 2 Feedback mm mot1 16 mot2 32 Example AEMOD 1 18 Encoder used as feedback for channel 1 EPPR Encoder PPR Value This parameter will set the pulse per revolution of the encoder that is attached to the con troller The PPR is the number of pulses that is issued by the encoder when making a full turn For each pulse there will be 4 counts which means that the total number of a counter increments inside the controller will be 4x the PPR value Make sure not to confuse the Pulse Per Revolution and the Count Per Revolution when setting up this parameter Syntax AEPPR cc nn EPPR Where cc Channel number nn PPR value Allowed Range 1 to 5000 Default Value 100 Example EPPR 2 200 Sets PPR for encoder 2 to 200 210 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Brushless Specific Commands Brushless Specific Commands TABLE 29 Brushless Specific Commands Command Set Arguments rune Description BHL BLHighLimit none BL Counter High Limit BHLA BLHiLimAction none BL Counter High Limit Action BHOME BLHomeCount none BL Counter Load at Home Position BLFB BLFeedback none Encoder or Hall Sensor Feedback BLL BLLowLimit none BL Counter Low Limit BLLA BLLoLimAction none BL Counter Low Limit Action BLSTD StallDetection none BL Stall Detection BPOL NumberOfPoles none Number of Poles of BL Motor BHL Brushle
219. on The controller performs the Closed Loop Speed mode using a full featured Proportional Integral and Differential PID algorithm This technique has a long history of usage in con trol systems and works on performing adjustments to the Power Output based on the dif ference measured between the desired speed set by the user and the actual position captured by the tachometer Figure 50 shows a representation of the PID algorithm Every 1 millisecond the controller measures the actual motor speed and subtracts it from the desired position to compute the speed error The resulting error value is then multiplied by a user selectable Proportional Gain The resulting value becomes one of the components used to command the motor The effect of this part of the algorithm is to apply power to the motor that is proportional with the dif ference between the current and desired speed when far apart high power is applied with the power being gradually reduced as the motor moves to the desired speed A higher Proportional Gain will cause the algorithm to apply a higher level of power for a given measured error thus making the motor react more quickly to changes in commands and or motor load The Differential component of the algorithm computes the changes to the error from one 1 ms time period to the next This change will be a relatively large number every time an abrupt change occurs on the desired speed value or the measured speed value The va
220. on example Microcomputer Valid Pulses Analog joystick Command mode Sending commands Received within safe Min Max selected Yes Don t care Don t care Serial No Yes Don t care RC mode No No Yes Analog mode No No No User selectable default value Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Operating the Controller in RC mode Note that it is possible to set a priority level to None For example the priority table 1 Serial 2 RC Pulse 3 None will only arbitrate and use Serial or RC Pulse commands USB vs Serial Communication Arbitration On controllers equipped with a USB port commands may arrive through the RS232 or the USB port at the same time They are executed as they arrive in a first come first served manner Commands that are arriving via USB are replied on USB Commands arriving via the UART are replied on the UART Redirection symbol for redirecting outputs to the other port exists e g a command can be made to respond on USB even though it arrived on RS232 CAN Commands Arbitration On controllers fitted with a CAN interface commands received via CAN are processed as they arrive regardless if any other mode is active at the same time Care must be taken to avoid conflicting commands from different sources Queries of operating parameters will not interfere with queries from serial or USB Commands issued from MicroB
221. on the DS302 specifca tion It is the mode to use if full compliance with the CANopen standard is a primary requi site This section describes the RawCAN and MiniCAN modes refer to section CANopen Interface on page 123 for a description of the CANopen mode Mode Selection and Configuration Mode selection is done using the CAN menu in the RoborunPlus PC utility Advanced Digital Motor Controllers User Manual 117 CAN Networking on Roboteq Controllers Robote Common Configurations CAN Mode Used to select one of the 3 operating modes Off disables all CAN receive and transmit capabilities Node ID CAN Node ID used for transmission from the controller Value may be between 1 and 126 included Bit Rate Selectable bit rate Available speeds are 1000 800 500 250 125 50 25 10 kbit s Default is 125kbit and is the recommended speed for RawCAN and MiniCAN modes Heartbeat Period at which a Heartbeat frame is sent by the controller The frame is CANopen compatible 0x700 NodelD with one data byte of value 0x05 Status Operational The Heartbeat is sent in any of the selected modes It can be disabled by entering a value of 0 MiniCAN Configurations ListenNodelD Filters to accept only packets sent by a specific node SendRate Period at which data frames are sent by the controller Frames are structured as standard CANopen Transmit Process Data Objects TPDOs Transmission can be disabled by entering a
222. onfiguration Tabs si duci a RE KGG REI Rar E xs Pa vale e 229 Entering Parameter Values lille nne 230 Automatic Analog and Pulse input Calibration 230 Input Output Labeling llle m mH 231 Loading Saving Controller Parameters lle eere 232 Locking amp Unlocking Configuration Access 232 Configuration Parameters Grouping amp Organization 233 Commands Parameters 0 cece cee eee eee eee ees 233 Encoder Parameters so cece cei ee ee Re ce wee ees 234 Digital Input and Output Parameters llle ee ees 235 Analog Input Parameters zx wee RE ERREUR Pas 235 Pulse Input Parameters mme x gn 235 Power setings eiia E Cms 235 Bun Taba 3 pana doa a er x Rx EXE E E eed ee eee ad eae 237 Status and Fault Monitoring ta kaai eee 237 Applying Motor Commands sssr arrr cece eect eee eee 238 Digital Analog and Pulse Input Monitoring 0 eeeee eee 238 Digital Output Activation and Monitoring 00 cece eee eens 238 Using the Chart Recorder ccc eee eee eee eens 238 Console 8D 43 555 nuo ERE PP Red E RES dae 240 Text Mode Commands Communication cee eee ees 240 Updating the Controller s Firmware eee 241 Updating the Controller Logic 2 ccc eee eee 241 Aavanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote SCHOUNG Tab manna 8 bA UEM 243 Edit WINDOW s s s nI ABA NA
223. onnecting Sensors and Actuators to Input Outputs 1kOhm Max Speed Adjust Internal Resistors 10kOhm pot and Converter 20KOhm 33KOhm 1kOhm FIGURE 21 Tachometer wiring diagram The tachometers can generate voltages in excess of 2 5 volts at full speed It is important therefore to set the potentiometer to the minimum value cursor all the way down per this drawing during the first installation Since in closed loop control the measured speed is the basis for the controller s power out put i e deliver more power if slower than desired speed less if higher an adjustment and calibration phase is necessary This procedure is described in Closed Loop Speed Mode on page 87 Important Warning The tachometer s polarity must be such that a positive voltage is generated to the controller s input when the motor is rotating in the forward direction If the polarity is inverted this will cause the motor to run away to the maximum speed as soon as the controller is powered and eventually trigger the closed loop error and stop If this protection is disabled there will be no way of stopping it other than pressing the emergency stop button or disconnecting the power Connecting External Thermistor to Analog Inputs Using external thermistors the controller can be made to supervise the motor s tempera ture and cut the power output in case of overheating Connecting thermistors is done according to the diagram shown in F
224. ontroller models only have one heatsink temperature sensor and therefore only report one value in addition to the Internal IC temperature TM Read Time Reports the value of the time counter in controller models equipped with Real Time clocks Note that time is kept whether the controller is On or Off but only if the controllers is con Advanced Digital Motor Controllers User Manual 185 Commands Reference IRo boteQ nected to a power supply Time is counted in a 32 bit counter and the returned value can be converted into a full day and time value using external calculation Syntax TM Reply TM number of seconds in counter TR Read Position Relative Tracking Reads the value of the expected motor position in the position tracking closed loop mode Syntax TR nn Reply TR2mm Where nn motor channel mm relative count position TRN Read Control Unit type and Controller Model Reports two strings identifying the Control Unit type and the Controller Model type This query is useful for adapting the user software application to the controller model that is attached to the computer Syntax TRN Reply TRN Control Unit Id String Controller Model Id String Example Q TRN R TRNzZRCB500 HDC2450 V Read Volts Reports the voltages measured inside the controller at three locations the main battery voltage the internal voltage at the motor driver stage and the voltage that is available on the 5V output on
225. op Speed control operation is described in Closed Loop Speed Mode on page 87 On brushless motors speed may be sensed directly from the motor s Hall Sen sors and closed loop operation is possible without additional hardware FIGURE 44 Motor with tachometer or Encoder for Closed Loop Speed operation Closed Loop Position Relative Control In this mode illustrated in Figure 45 the axle of a geared down motor is typically coupled to a position sensor that is used to compare the angular position of the axle versus a desired position The motor will move following a controlled acceleration up to a user defined velocity and decelerate to smoothly reach the desired destination This feature of the controller makes it possible to build ultra high torque jumbo servos that can be used to drive steering columns robotic arms life size models and other heavy loads Details on how to wire the position sensing potentiometers and operating in this mode can be found in Closed Loop Relative and Tracking Position Modes on page 93 78 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Closed Loop Count Position Position Feedback Position Sensor FIGURE 45 Motor with potentiometer assembly for Position operation Closed Loop Count Position In this mode an encoder is attached to the motor as for the Speed Mode of Figure 44 Then the controller can be instructed to move the motor to a spe
226. op until the temperature reaches 800C Above 800C the controller s power stage turns itself off completely Note that the measured temperature is measured on the heat sink near the Power Transis tors and will rise and fall faster than the outside surface Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Global Power Configuration Parameters The time it takes for the heat sink s temperature to rise depends on the current output ambient temperature and available air flow natural or forced Short Circuit Protection The controller includes a circuit that will detect very high current surges that are consistent with short circuits conditions When such a condition occurs the power transistor for the related motor channel are cut off within a few microseconds Conduction is restored at 1ms intervals If the short circuit is detected again for up to a quarter of a second it is con sidered as a permanent condition and the controller enters a Safety Stop condition mean ing that it will remain off until the command is brought back to 0 The short circuit detection can be configured with the PC utility to have one of three sensi tivity levels quick medium and slow The protection is very effective but has a few restrictions Only shorts between two motor outputs of the same channel are detected Shorts between a motor wire and VMot are also detected Shorts between a motor output and Gro
227. osed of 4 MOS FETs semiconductor switches In some case of failures to MOSFETs in the power stage itis possible that one or both motors will remain permanently powered with no way to stop them either via software or by turning the controller off On brushless motor controllers shorted MOSFETs will not cause the motor to turn on its own Nevertheless it is still advised to follow the recommendations included in this sec tion Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Motor Deactivation in Case of Output Stage Hardware Failure The figures below show all the possible combinations of shorted MOSFETs switches L jJ O tol LIES FIGURE 5 MOSFET Failures resulting in no motor activation pin M MM Co e FIGURE 6 MOSFET Failures resulting in battery short circuit and no motor activation FIGURE 7 MOSFET Failures resulting in motor activation Advanced Digital Motor Controllers User Manual 35 Safety Recommendations IRo b oteQ Two failure conditions 15 and 16 will result in the motor spinning out of control regardless whether the controller is on or off While these failure conditions are rare users must take them into account and provide means to cut all power to the controller s power stage Manual Emergency Power Disconnect In systems where the operator is within physical reach of the controller the simplest s
228. otentiometer that reduce the range to a bit less than the full OV to 5V swing If one or more wires to the potentiometer are cut the voltage will actually reach OV and 5V and be considered a fault condition if that protection is enabled See Connecting Potentiometers for Commands with Safety band guards on page 46 Safety Switches Any Digital input can be used to add switch activated protection features For example the motor s can be made to activate only if a key switch is turned On and a passenger is pres ent on the driver s seat This is done using by configuring the controller s Digital inputs See Digital Inputs Configurations and Uses on page 64 Advanced Digital Motor Controllers User Manual 61 Command Modes I RoboteQ Monitoring and Telemetry in RC or Analog Modes The controller can be fully monitored while it is operating in RC or Analog modes If directly connected to a PC via USB or RS232 the controller will respond to operating queries Amps Volts Temperature Power Out without this having any effect on its response to Analog or RC commands The PC Utility can therefore be used to visualize in real time all operating parameters as the controller runs See Run Tab on page 237 In case the controller is not connected via a bi directional link and can only send informa tion one way typically to a remote host the controller can be configured to output a user selectable set of operating parameters
229. ous program will be the following 0 Co OO iO H Operator The left shift operator shifts its first operand left by the number of bits specified by its second operand expression expression The high order bits of left operand are discarded and the low order empty bits are zero filled Shift operations never cause overflows gt gt Operator The right shift operator shifts its first operand right by the number of bits specified by its second operand expression expression Operator The inequality operator returns false if its operands are equal true otherwise expression expression Operator Less than relational operator returns true if the first operand is less than the second false otherwise expression expression Operator Greater than relational operator returns true if the first operand is greater than the sec ond false otherwise expression expression z Operator Less than or equal relational operator lt returns true if the first operand is less than or equal to the second false otherwise expression lt expression 156 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I Ro boteQ Introduction Operator Greater than relational operator returns true if the first operand is greater than the sec ond false otherwise expression expression gt Operator Greater
230. ower Connections SECTION 1 Connecting Power and Motors to the Controller This section describes the controller s connections to power sources and motors This section does not show connector pin outs or wiring diagram Refer to the datasheet for these Important Warning The controller is a high power electronics device Serious damage including fire may occur to the unit motor wiring and batteries as a result of its misuse Please follow the instructions in this section very carefully Any problem due to wiring errors may have very serious consequences and will not be covered by the product s warranty Power Connections Power connections are described in the controller model s datasheet Depending on the model type power connection is done via wires fast on tabs screw terminals or copper bars coming out of the controller Controllers with wires as power connections have Ground black VMot red power cables and a Power Control wire yellow The power cables are located at the back end of the controller The various power cables are identified by their position wire thickness and color red is positive black is negative or ground Controllers with tabs screw terminals or copper bars have their connector identified in print on the controller Advanced Digital Motor Controllers User Manual 21 Connecting Power and Motors to the Controller Robote Controller Power The controller
231. plied to the motor at the power output stage This value takes into account all the internal corrections and any limiting resulting from temper ature or over current Syntax P cc Reply P p1 p2 Where ce motor channel p1 p2 0 to 1000 power level Examples O P 1 R P 800 Notes For Sepex controllers this query will report the applied power on the Armature and Field excitation PI Read Pulse Input Reports the value of each of the enabled pulse input captures The value is the raw number in microseconds when configured in Pulse Width mode In Frequency mode the returned value is in Hertz In Duty Cycle mode the reported value ranges between 0 and 4095 when the pulse duty cycle is 0 and 100 respectively Syntax PI cc Reply Pl nn Where cc Pulse capture channel number nn value each channel Allowed Range O to 65000us Notes The total number of Pulse input channels varies from one controller model to another and can be found in the product datasheet PIC Read Pulse Input after Conversion Returns value of a Pulse input after all the adjustments were performed to convert it to a command or feedback value Min Max Center Deadband Linearity If an input is disabled the query returns 0 Syntax AIC Reply AlC nn Where nn Converted analog input value 1000 range 184 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Queries S Read Enc
232. ply Syntax ATGA cc aa mm ATGA cc Where ce Input channel number aa DIN Action List mm mot1 16 mot2 32 Default Value No action on all motor channels ATGD Amps Trigger Delay This parameter contains the time during which the Amps Trigger Level ATRIG must be exceeded before the Amps Trigger Action ATGA is called This parameter is used to pre vent Amps Trigger Actions to be taken in case of short duration spikes Syntax AATGD cc nn ATGD cc Where ce channel number nn delay value in milliseconds Example AATGD 1 1000 Action that is define with ATRIGA will be triggered if motor Amps limit exceeds the value set with ATGL for more than 1000ms ATRIG Amps Trigger Level This parameter lets you select Amps threshold value that will trigger an action This thresh old must be set to be below the ALIM Amps limit When that threshold is reached then list of action can be selected using the ATGA parameter Syntax AATRIG cc nn ATRIG cc Where ce Motor channel nn Amps 10 Default Value 75 of Max Datasheet rating Examples AATRIG 2 550 Set Amps Trigger to 55 0A Advanced Digital Motor Controllers User Manual 217 Commands Reference I RoboteQ CLERD Closed Loop Error Detection This parameter is used to detect large tracking errors due to mechanical or sensor failures and shut down the motor in case of problem in closed loop speed or position system The detection mechanis
233. puts Converted _ABSPEED uS Channel Read Encoder Motor Speed in RPM _RELSPEED _SR Channel Read Encoder Motor Speed as 1 1000 of Max _TEMP T SensorNumber Read Case amp Internal Temperatures _TIME _TM Channel Read Time _TRACK _TR Channel Read Position Relative Tracking _TRN _TRN none Read Power Unit Tree filename _VOLTS M SensorNumber Read Internal Voltages VAR VAR VarNbr Read User Integer Variable SetCommand This function is used to send operating commands to the controller at runtime The func tion requires a Command Item an optional Index and a Value as parameters The Com mand Item can be any one from the table below Details on the various commands their effects and acceptable ranges can be found in the Controller s User Manual See Serial RS232 USB Operation on page 111 SetCommand CommandItem Value SetCommand GO 1 500 Set Motor 1 command level at 500 SetCommand DSET 2 Activate Digital Output 2 TABLE 18 Command Short Arguments Description _ACCEL _AC Channel Acceleration Set Acceleration _NXTACC _AX Channel Acceleration Next Acceleration _BOOL _B Variable Number Value Set User Boolean Variable _BIND BND none Spektrum Radio Bind _SENCNTR ut Channel Counter Set Encoder Counters _SBLCNTR _CB Counter Set Brushless Counter _CANGO _CG Channel Command Send Raw CAN frame _CANSEND _CS Variable Number Value CAN Send 160 Advanced Digital Motor Controllers User Manual Version 1 3 Sept
234. r Bool Variable 8 S32 WO 09 Set User Bool Variable 9 0A Set User Bool Variable 10 OF Set User Bool Variable 15 10 Set User Bool Variable 16 S32 WO 11 Set User Bool Variable 17 12 Set User Bool Variable 18 13 Set User Bool Variable 19 14 Set User Bool Variable 20 15 Set User Bool Variable 21 1F Set User Bool Variable 31 20 Set User Bool Variable 32 0x2017 00 Save Config to Flash U8 WO EES page 168 130 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote Object Dictionary TABLE 16 Object Dictionary Data Command Type amp Reference Index Sub Entry Name Access amp Page Runtime Queries Ox2100 01 Read Motor Amps ch 1 16 RO A page 173 02 Read Motor Amps ch 2 16 RO 0x2101 01 Read Actual Motor Command ch 1 S16 RO M page 182 02 Read Actual Motor Command ch 2 0x2102 01 Read Applied Power Level ch 1 S16 RO P page 184 02 Read Applied Power Level ch 2 S16 RO 0x2103 01 Read Encoder Motor Speed ch 1 16 RO S page 185 02 Read Encoder Motor Speed ch 2 S16 RO 0x2104 01 Read Absolute Encoder Count ch 1 S32 RO C page 176 02 Read Absolute Encoder Count ch 2 0x2105 01 Read Absolute Brushless S32 RO CB page 176 Counter ch 1 02 Read Absolute Brushless Counter ch 2 0x2106 01 Read User
235. r Manual Version 1 3 September 1 2013 I RoboteQ Runtime Commands AC Set Acceleration Set the rate of speed change during acceleration for a motor channel This command is identical to the MACC configuration command but is provided so that it can be changed rapidly during motor operation Acceleration value is in 0 1 RPM per second When using controllers fitted with encoder the speed and acceleration value are actual RPMs Brush less motor controllers use the hall sensor for measuring actual speed and acceleration will also be in actual RPM s When using the controller without speed sensor the acceleration value is relative to the Max RPM configuration parameter which itself is a userprovided number for the speed normally expected at full power Assuming that the Max RPM parameter is set to 1000 and acceleration value of 10000 means that the motor will go from 0 to full speed in exactly 1 second regardless of the actual motor speed Syntax IAC nn mm Where nn motor channel mm acceleration value in 0 1 RPM s Examples IAC 12000 Increase Motor 1 speed by 200 RPM every second if speed is measured by encoder AC220000 Time from 0 to full power is 0 5s if no speed sensors are present and Max RPM is set to 1000 AX Next Acceleration This command is used in Position Count mode It is similar to AC except that it stores an acceleration value in a buffer This value will become the next acceleration the controller
236. r Manual 241 Using the Roborun Configuration Utility Robote Update Power Board Logic Logic File Select File Nevs projects CPLD Powerboards bdc2400 062409 xsvf Browse ity Log Posem Gee jJ FIGURE 91 Update Power Board Logic window After updating the logic you should turn off and turn on the controller in order for the changes to be fully accounted for 242 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IlRoboteQ scripting Tab Scripting Tab One of the controller s most powerful and innovative features is the ability for the user to write programs that are permanently saved into and run from the controller s Flash Mem ory This capability is the equivalent of combining the motor controller functionality and this of a PLC or Single Board Computer directly into the controller The scripting tab is used to write simulate and download custom scripts to the controller FR Roborun oes zu E Work Off Motor Control Utility Laos ETRA Rev 1 1 5 22 10 View Pinout Control Unit H Type STOP Controller Model HDC24 Configuration un Consde Scripting D did xa Undo edo QR Build gt Simulate Download To Device Ej Error List AST Dim Initialized as Boolean Dim LEDState 6 as Integer top if Initialized then setcommand DOUT LEDState Count if Count 6 then Count 0 else LEDState 0 6 LEDState 1
237. r Safe Operation with Discharged Batteries note 1 25 Use precharge Resistor to prevent switch arcing note 2 25 Protection against Damage due to Regeneration notes 3 and 4 25 Connect Case to Earth if connecting AC equipment note 5 25 Avoid Ground loops when connecting I O devices note 6 26 Connecting the Motoi seses maler mk eee lee P Ron SY RO BR dor Dex 26 Single Channel Operation ca cscs eee eee n RR m GG 27 Power FUSES cx ace e EE d RUE mom e RE RO RR LA wee cm ect RR Rc 27 Wire Length Limits amp anh thu eee hee ERE E E 28 Electrical Noise Reduction Techniques 0 eee cece eee eee 28 Battery Current vs Motor Current 0 cee ees 28 Power Regeneration Considerations cece ee eee ees 30 Using the Controller with a Power Supply 2 cece eee eee ee 30 Safety Recommendati0ns eee ee eee eee eee 33 Possible Failure Causes cer ee dk eek ee ee ee eee ee Ree EY 33 Aavanced Digital Motor Controllers User Manual Robote SECTION 3 SECTION 4 Motor Deactivation in Normal Operation llle 34 Motor Deactivation in Case of Output Stage Hardware Failure 34 Manual Emergency Power Disconnect eee ees 36 Remote Emergency Power Disconnect eee ees 37 Protection using Supervisory Microcomputer 2 0 e eee eee eee eee 37 Self Protection against Power Stage Failure 0 eee eee eee 38 Connecting Se
238. rectly to a discharged battery Consider using a decoupling diode on the power supply s output to prevent battery or regeneration current to flow back into the power supply Place a resistive load in parallel with the power supply with a circuit to enable that load during regeneration This solution is more complex but will provide a safe path for the braking energy into a load designed to dissipate it To prevent current from flowing from the power supply into the load during normal operation an active Switch would enable the load when the voltage rises above the nominal output of the power supply The controller can be configured to activate the load using a digi tal output configured to turn on when overvoltage condition is detected Advanced Digital Motor Controllers User Manual 31 Connecting Power and Motors to the Controller Robote 32 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Possible Failure Causes SECTION 2 Safety Recommendations In many applications Roboteg controllers drive high power motors that move parts and equipment at high speed and or with very high force In case of malfunction potentially enormous forces can be applied at the wrong time and or wrong place causing serious damage to property and or harm to person While Roboteq controllers operate very reli ably and failures are rare a failure is possible as with any other electronic equipment
239. roller in Open Loop Mode using the PC utility This will cause the motor to run in Open Loop for now 2 Configure the sensor you plan to use as speed feedback If an analog tachometer is used map the analog channel on which it is connected as Feedback for the selected motor channel If an encoder is used configure the encoder channel with the encoder s Pulses Per Revolution value 3 Click on the Run tab of the PC utility Configure the Chart recorder to display the speed information if an encoder is used Display Feedback if an analog sensor is used 4 Verify that the motor sliders are in the O Stop position 5 f a tachometer is used verify that the reported feedback value read is O when the motors are stopped If not adjust the Analog Center parameter 6 Move the cursor of the desired motor to the right so that the motor starts rotating and verify that a positive speed is reported Move the cursor to the left and verify that a negative speed is reported 7 f the tachometer or encoder polarity is the same as the applied command the wiring is correct 8 If the tachometer polarity is opposite of the command polarity then reverse the motor s wiring reverse the tachometer wires or change the capture polarity in the Input configuration If an encoder is used swap its ChA and ChB outputs Alterna tively swap the motor leads if using a brushed DC motor only 9 Set the controller operating mode to Closed Loop Speed mode usin
240. roller s power wiring can be found at Connecting Power and Motors to the Controller on page 21 The DSub connectors are used for all low voltage low current connections to the Radio Microcontroller sensors and accessories This section covers only the connections to sen sors and actuators For information on how to connect the RS232 port see Serial RS232 USB Operation on page 111 The remainder of this section describes how to connect sensors and actuators to the con troller s low voltage I O pins that are located on the DSub connectors Advanced Digital Motor Controllers User Manual 41 Connecting Sensors and Actuators to Input Outputs I RoboteQ Controller s Inputs and Outputs The controller includes several inputs and outputs for various sensors and actuators Depending on the selected operating mode some of these l Os provide command feed back and or safety information to the controller When the controller operates in modes that do not use these l Os these signals are ignored or can become available via the USB RS232 port for user application Below is a summary of the available signals and the modes in which they are used by the controller The actual number of signal of each type voltage or current specification and their position on the I O connector is given in the controller datasheet TABLE 2 Controller s IO signals and definitions Signal VO type Use Activation DOUT1 Digita
241. rops below the Over Voltage threshold The controller can also be configured to trigger one of its Digital Outputs when an Over Voltage condition is detected This Output can then be used to activate a Shunt load across the VMot and Ground wires to absorb the excess energy if it is caused by regeneration This protection is particularly recommended for situation where the controller is powered from a power supply instead of batteries Undervoltage Protection In order to ensure that the power MOSFET transistors are switched properly the controller monitors the internal preset power supply that is used by the MOSFET drivers If the inter nal voltage drops below a safety level the controller s output stage is turned Off The rest of the controller s electronics including the microcomputer will remain operational as long as the power supply on VMot or Power Control is above 7V Additionally the output stage will be turned off when the main battery voltage on VMot drops below a user configurable level that is factory preset at 5V Temperature Based Protection The controller features active protection which automatically reduces power based on measured operating temperature This capability ensures that the controller will be able to work safely with practically all motor types and will adjust itself automatically for the vari ous load conditions When the measured temperature reaches 700C the controller s maximum power output begins to dr
242. roro ilex loin 17 Refer to the Datasheet for Hardware Specific Issues 17 User Manual Structure and Use lille 17 SECTION 1 Connecting Power and Motors to the Controller 17 SECTION 2 Safety Recommendations lees 17 SECTION 3 Connecting Sensors and Actuators to Input Outputs 17 SECTION 4 Command Modes kuspi meek cece eee eee eens 18 SECTION 5 I O Configuration and Operation 18 SECTION 6 Motor Operating Features and Options 18 SECTION 7 Brushless Motor Connections and Operation 18 SECTION 8 Closed Loop Speed Mode 0c cece cece eee eeees 18 SECTION 9 Closed Loop Relative and Tracking Position Modes 18 SECTION 10 Closed Loop Count Position Mode 18 SECTION 11 Closed Loop Torque Mode eee eee ee eee eee 18 SECTION 12 Serial RS232 USB Operation 00 00 eee eee 18 SECTION 13 CAN Networking on Roboteq Controllers 19 SECTION 14 CANopen Interface 0 cece eee eee 19 SECTION 15 MicroBasic Scripting 0c cece eee eee eee 19 SECTION 16 Commands Reference leeren 19 SECTION 17 Using the Roborun Configuration Utility 19 Connecting Power and Motors to the Controller 21 Power Connections s cnc0s02e02000s Rh RR 220005 EORR DAAN Rabe ha 21 Controller op 22 Controller Powering SCheMeES 2 ee eee 24 Mandatory Connections 0 0 cee ee eee eee 24 Connection fo
243. rrent The controller measures and limits the current that flows through the motors and not the battery current Current that flows through the motor is typically higher than the battery current This counterintuitive phenomenon is due to the flyback current in the motor s inductance In some cases the motor current can be extremely high causing heat and potentially damage while battery current appears low or reasonable The motor s power is controlled by varying the On Off duty cycle of the battery voltage 16 000 times per second to the motor from 096 motor off to 100 motor on Because of the inductive flyback effect during the Off time current continues to flow at nearly the same peak and not the average level as during the On time At low PWM ratios the Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Battery Current vs Motor Current peak current and therefore motor current can be very high as shown in Figure 4 Instant and average current waveforms on page 29 The relation between Battery Current and Motor current is given in the formula below Motor Current Battery Current PWM ratio Example If the controller reports 10A of battery current while at 1096 PWM the current in the motor is 10 0 1 100A FIGURE 3 Current flow during operation FIGURE 4 Instant and average current waveforms The relation between Battery
244. rs Advanced Digital Motor Controllers User Manual 81 Brushless Motor Connections and Operation Robote 1 W E FIGURE 4 23 45 612 3 4 5 6 U NG slr We ee CM ad NA 6 Hall sensors sequence Roboteq s brushless DC motor controllers only work with motors equipped with Hall sen sors While sensorless techniques exist these can only accurately detect the rotor position once the motor is spinning and therefore are not usable in any system requiring precise control at slow speed Number of Poles One of the key characteristics of a brushless motor is the number of poles of permanent magnets it contains A full 3 phase cycling of motor s electromagnets will cause the rotor to move to the next permanent magnet pole Thus increasing the number of poles will cause the motor to rotate more slowly for a given rate of change on the winding s phases A higher or lower number of poles makes no difference to the controller since its function is always to create a rotating field based on the Hall sensor position However the number of poles information can be used to determine the number of turns a motor has done It can also be used to measure the motor speed The Roboteq controllers can measure both The number of poles on a particular motor is usually found in the motor s specification sheet The number of poles can also be measured by applyi
245. s User Manual Version 1 3 September 1 2013 I Ro boteQ Introduction a 10 Do Print a a n ru Loop While a 0 Print Loop ended with a a n Do Loop Until Statement Do lt block gt Loop Until lt condition gt Unlike Do Loop While statement Do Loop Until statement exist the loop when the expression evaluates to true a 10 Do Print a a n cc Loop Until a 0 Print Loop ended with a a n Terminate Statement The Terminate statement ends the execution of the program Terminate Exit Statement The following is the syntax of Exit statement Exit For While Do An Exit statement transfers execution to the next statement to immediately containing block statement of the specified kind If the Exit statement is not contained within the kind of block specified in the statement a compile time error occurs The following is an example of how to use Exit statement in While loop While a gt 0 If b 0 Then Exit While End While Continue Statement The following is the syntax of Continue statement Continue For While Do A Continue statement transfers execution to the beginning of immediately containing block statement of the specified kind If the Continue statement is not contained within the kind of block specified in the statement a compile time error occurs Advanced Digital Motor Controllers User Manual 151 MicroBa
246. s have their wires isolated from the motor casing Some motors particularly automotive parts use only one wire with the other connected to the motor s frame If you are using this type of motor make sure that it is mounted on isolators and that its casing will not cause a short circuit with other motors and circuits which may also be inadvertently connected to the same metal chassis Single Channel Operation Dual channel Brushed DC controllers may be ordered with the S Single Channel suffix The two channel outputs must be paralleled as shown in the datasheet so that they can drive a single load with twice the power To perform in this manner the controller s Power Transistors that are switching in each channel must be perfectly synchronized Without this synchronization the current will flow from one channel to the other and cause the destruc tion of the controller The single channel version of the controller incorporates a hardware setting inside the con troller which ensures that both channels switch in a synchronized manner and respond to commands sent to channel 1 Important Warning Before pairing the outputs attach the motor to one channel and then the other Ver ify that the motor responds the same way to command changes Power Fuses For low Amperage applications below 30A per motor it is recommended that a fuse be inserted in series with the main battery circuit as shown above and in the Figure 2 on
247. s indicated with the Stall LED on the Roborun PC utility screen Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Brushless Motor Operation Speed Measurement using Hall Sensors The Hall sensor information is used by the controller to compute the motor s rotation speed Speed is determined by measuring the time between Hall sensor transitions This measurement method is very accurate but requires that the motor be well constructed and that the placement between sensors be accurate On precision motors this results in a stable speed being reported On less elaborate motors such as hub motors the reported speed may oscillate by a few percents The motor s number of poles must be entered as a controller parameter in order to pro duce an accurate RPM value See discussion above The speed information can then be used as feedback in a closed loop system Motor with a more precise Hall sensor position ing will work better in such a configuration than less precise motors If the reported speed is negative when the slider is moved in the positive direction you can correct this by putting a negative number of poles in the motor configuration This will be necessary in order to operate the motor in closed loop speed mode using hall sensor speed capture Distance Measurement using Hall Sensors The controller automatically detects the direction of rotation keeps track of the number of Hall
248. s that match the available range of the input sensor typically a potentiometer For example this capability is useful for modifying the active joystick travel area The figure below shows a transmitter whose joystick s center position has been moved back so that the operator has a finer control of the speed in the forward direction than in the reverse position New Desired Center Position Min Min Reverse Forward Max Max Reverse Forward FIGURE 36 Calibration example where more travel is dedicated to forward motion Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ Analog Inputs Configurations and Use The Min Max and Center values are defined individually for each input They can be easily entered manually using the Roborun PC Utility The Utility also features an Auto calibration function for automatically capturing these values See Automatic Analog and Pulse input Calibration on page 230 Deadband Selection The adjusted analog value is then adjusted with the addition of a deadband This parameter selects the range of movement change near the center that should be considered as a 0 command This value is a percentage from O to 50 and is useful for example to allow some movement of a joystick around its center position before any power is applied to a motor The graph below shows output vs input changes with a deadband of approximately 4096 Output 1000 1000
249. se components are available at any elec tronics distributor A CAT5 network cable is recommended and cable length may be up to 100 30m Figure 59 shows the wiring diagram of the extension cable DB9 Female DB9 Male 10 O1 O6 60 RX Data 2 9 OQ2 Data Out 7 70 TX Data 3 O O Dataln Os 8O 40 O4 O9 20 GND 5 0 O 5 FIGURE 59 RS232 extension cable connector wiring diagram GND Advanced Digital Motor Controllers User Manual 113 Serial RS232 USB Operation IRo boteQ USB Configuration USB is available on some controller models and provides a fast and reliable communication method between the controller and the PC After plugging the USB cable to the controller and the PC the PC will detect the new hardware and install the driver Upon successful installation the controller will be ready to use The controller will appear like another Serial device to the PC This method was selected because of its simplicity particularly when writing custom software opening a COM port and exchanging serial data is a well documented technique in any programming language Note that Windows will assign a COM port number that is more or less random The Robo run PC utility automatically scans all open COM ports and will detect the controller on its own When writing your own software you will need to account for this uncertainty in the COM port assignment Impor
250. se two functions used to set get timer count SetTimerCount lt index gt lt milliseconds gt GetTimerCount lt index gt Where index is the timer index 1 4 and milliseconds is the number of milliseconds to count SetTimerState GetTimerState These two functions used to set get timer state started or stopped SetTimerState lt index gt lt state gt GetTimerState index Where index is the timer index 1 4 and state is the timer state 1 means timer reached 0 and or stopped 0 means timer is running 162 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 lRoboteQ commands Types SECTION 16 Commands Reference This section lists all the commands accepted by the controller Commands are typically sent via the serial RS232 or USB ports See Serial RS232 USB Operation on page 111 Except for a few maintenance commands they can also be issued from within a user script written using the MicroBasic language See MicroBasic Scripting on page 135 Most of these commands are mapped inside a CANopen Object Directory allowing the controller to be remotely operated on a CANopen standard network See CANopen Inter face on page 123 Commands Types The controller will accept and recognize four types of commands Runtime commands aye These start with when called via the serial communication RS232 or USB or using the setcommand MicroBas
251. sent In the default configuration the controller will shut down the power if a large loop error is present for more than a preset amount of time This safety feature should be disabled in most systems using Torque Mode Torque Mode Limitations The torque mode uses the Motor Amps and not the Battery Amps See Battery Current vs Motor Current on page 28 In all Roboteg controllers except the Separate Excitation models Battery Amps is measured and Motor Amps is estimated The estimation is fairly accurate at power level of 20 and higher Its accuracy drops below 20 of PWM output and no motor current is measured at all when the power output level is 0 even though current may be flowing in the motor as it would be the case if the motor is pushed The torque mode will therefore not operate with good precision at low power output levels Furthermore the resolution of the amps capture is limited to around 0 5 of the full range On high current controller models for example amps are measured with 500mA incre ments If the amps limit is set to 100A this means the torque will be adjustable with a 0 596 resolution If on the same large controller the amps limit is changed to 10A the torque will be adjustable with the same 500mA granularity which will result in 596 resolu tion For best results use an amps limit that is at least 5096 than the controller s max rat ing 108 Advanced Digital Motor Controllers User Manual Version 1 3 Sep
252. set what will trigger a given output pin The parameter is a number in a list of possible triggers when one or several motors are on when one or several motors are reversed when an Overvoltage condition is detected or when an Over temperature condition is detected Embedded in the parameter is the motor channel s to which the action should apply Syntax DOA cc aa mm DOA cc Where cc Output channel aa 0 no action when motor on motor reversed overvoltage overtemperature mirror status LED no MOSFET failure mm mot1 16 mot2 32 O01 CN Default Value All outputs disabled Example DOA 1 33 DOL Digital Outputs Active Level This parameter configures whether an output should be set to ON or to OFF when it is trig gered Syntax DOL bb DOL Where bb L1 L2 2 L3 4 L4 8 L5 16 LE 32 and where Ln 0 input is active high 1 input is active low 200 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Analog Input Configurations Default Value 0 All outputs active high Example DOL 9 All outputs switch on when activated except outputs 1 and 4 which switch off when activated l e 9 1 ouput1 8 output4 Analog Input Configurations This section covers the various configuration parameter applying to the analog inputs TABLE 26 Analog Input Configurations Comman
253. shless motor controller models Brushless Motor Introduction Brushless motors or more accurately Brushless DC Permanent Magnet motors since there are other types of motors without brushes contain permanent magnets and electro magnets The electromagnets are arranged in groups of three and are powered in sequence in order to create a rotating field that drives the permanent magnets The elec tromagnets are located on the non rotating part of the motor which is normally in the motor casing for traditional motors in which case the permanent magnets are on the rotor that is around the motor shaft On hub motors such as those found on electric bikes Scooters and some other electric vehicles the electromagnets are on the center part of the motor and the permanent magnets on outer part As the name implies Brushless motors differ from traditional DC motors in that they do not use brushes for commutating the electromagnets Instead it is up to the motor con troller to apply in sequence current to each of the 3 motor windings in order to cause the rotor to spin To do this the controller must know where the rotor is in relation to the elec tromagnets so that current can be applied to the correct winding at any given point in time The simplest and most reliable method is to use three Hall sensors inside the motor The diagram below shows the direction of the current in each of the motor s windings depend ing on the state of the 3 hall senso
254. shoot If the overshoot persists reduce the Proportional Gain Add a minimal amount of Integral Gain Further fine tune the PID by varying the gains from these positions To set the Proportional Gain which is the most important parameter use the Roborun util ity to observe the three following values e Command Value e Actual Position e Applied Power With the Integral Gain set to 0 the Applied Power should be Applied Power Command Value Actual Position Proportional Gain Experiment first with the motor electrically or mechanically disconnected and verify that the controller is measuring the correct position and is applying the expected amount of power to the motor depending on the command given Verify that when the Command Value equals the Actual Position the Applied Power equals to zero Note that the Applied Power value is shown without the sign in the PC utility In the case where the load moved by the motor is not fixed the PID must be tuned with the minimum expected load and tuned again with the maximum expected load Then try to find values that will work in both conditions If the disparity between minimal and maximal possible loads is large it may not be possible to find satisfactory tuning values Note that the controller uses one set of Proportional Integral and Differential Gains for both motors and therefore assumes that similar motor mechanical assemblies and loads are present at each channel PID Tunin
255. sic Scripting I RoboteQ The following is an example of how to use Continue statement in While loop While a 0 If b 0 Then Continue While End While GoTo Statement A GoTo statement causes execution to transfer to the specified label GoTo keyword should be followed by the label name GoTo lt label gt The following example illustrates how to use GoTo statement GoTo Target_Label Print This will not be printed n Target_Label Print This will be printed n GoSub Return Statements GoSub used to call a subroutine at specific label Program execution is transferred to the specified label Unlike the GoTo statement GoSub remembers the calling point Upon encountering a Return statement the execution will continue the next statement after the GoSub statement GoSub lt label gt Return Consider the following example Print The first line GoSub PrintLine Print The second line GoSub PrintLine Terminate PrintLine Print Mn Return The program will begin with executing the first print statement Upon encountering the GoSub statement the execution will be transferred to the given PrintLine label The pro gram prints the new line and upon encountering the Return statement the execution will be returning back to the second print statement and so on 152 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I Ro boteQ Introduction ToBool Statemen
256. sic script execution when the controller powers up When enabled the controller checks that a valid script is present in Flash and will start its execution 2 seconds after the controller has become active The 2 seconds wait time can be circumvented by putting 2 in the command argument However this must be done only on scripts that are known to be bug free A crashing script will cause the controller to continuously reboot with little means to recover Syntax BRUN nn BRUN Where nn 0 disabled 1 enabled after 2 seconds 2 enabled immediately Default Value 0 disabled CLIN Command Linearity This parameter is used for applying an exponential or a logarithmic transformation on the command input regardless of its source serial pulse or analog There are 3 exponential 196 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Command Inputs Configuration and Safety and 3 logarithmic choices Exponential correction make the commands change less at the beginning and become stronger at the end of the command input range The logarithmic correction will have a stronger effect near the start and lesser effect near the end The lin ear selection causes no change to the input A linearity transform is also available for all analog and pulse inputs Both can be enabled although in most cases it is best to use the Command Linearity parameter for modifying command profiles Syntax CL
257. ss Counter High Limit This parameter allows you to define a minimum brushless count value at which the control ler will trigger an action when the counter rises above that number This feature is useful for setting up virtual or soft limit switches This value together with the Low Count Limit are also used in the position mode to determine the travel range when commanding the controller with a relative position command In this case the Low Limit Count is the desired position when a command of 1000 is received Syntax ABHL nn BHL Where nn Counter value Default Value 2000 Example ABHL 10000 Set brushless counter high limit BHLA Brushless Counter High Limit Action This parameter lets you select what kind of action should be taken when the upper bound ary of the brushless counter is reached The list of action is the same as in the DINA digital input action list See DINA on page 199 Syntax BHLA nn BHLA cc Where aa DIN Action List Default Value 0 no action BHOME Brushless Counter Load at Home Position This parameter contains a value that will be loaded in the brushless hall sensor counter when a home switch is detected or when a Home command is received from the serial USB or issued from a MicroBasic script Advanced Digital Motor Controllers User Manual 211 Commands Reference I RoboteQ Syntax BHOME nn BHOME Where nn counter value to be loaded Default Value 0 BLF
258. string that will be used when the controller starts up The string is entered as a series of queries characters between a beginning and an ending quote Queries must be separated by colon characters Upon the power up the controller will load the query history buffer and it will automatically start 198 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Digital Input Output Configurations sending operating parameters based on the information in this string Strings up to 48 char acters long can be stored in this parameter Syntax TELS string TELS Where string string of ASCII characters un Default Value empty string Examples ATELS A V T 4200 Controller will issue Amps Volts and temper ature information automatically upon power up at 200ms intervals Digital Input Output Configurations These parameters configure the operating mode and how the inputs and outputs work TABLE 25 Digital Input Output Configurations Command Set Arguments Get Argument Description DINA InputNbr Action InputNbr Digital Input Action DINL InputNbr Action InputNbr Digital Input Active Level DOA OutputNbr Action InputNbr Digital Output Action DOL OutputNbr Action InputNbr Digital Output Active Level DINA Digital Input Action This parameter sets the action that is triggered when a given input pin is activated The action list includes limit switc
259. t Converts the given expression into boolean value It will be return False if expression evaluates to zero True otherwise ToBool expression Consider the following example Print ToBool a n The previous example will output False if value of a equals to zero True otherwise Print Statement Output the list of expression passed Print str expression ToBool lt expression gt str expression ToBool expression The print statement consists of the Print keyword followed by a list of expressions sepa rated by comma You can use ToBool keyword to force print of expressions as Boolean Strings are C style strings with escape characters as described in the Strings section see Strings on page 144 a 3 b 5 Print a a b T b n Print Is a less than b ToBool a lt b n Abs Function Operator Operator Returns the absolute value of an expression Abs expression Example a 5 b Abs a 2 10 The operator can function as either a unary or a binary operator expression expression expression The operator can function as either a unary or a binary operator expression xpression xpression Advanced Digital Motor Controllers User Manual 153 MicroBasic Scripting Robote Operator The multiplication operator 4 computes the product of its operands expression expression Operator The division operator
260. t Parameters See Pulse Input Configuration on page 205 for details on this group of parameters For Pulse inputs the tree lets us enable that input and select what it is used for and what type of capture it is to make The range deadband and actions to take on when Min and Max are reached is also selectable Power Settings See General Power Stage Configuration Commands on page 214 for details on this group of parameters The power output tree sets parameters that relate to the motor driver and power stage of the controller There is one tree for setting parameters that apply to all channels of the con troller These are the PWM Frequency the low and high side Voltage Limits the Short Cir cuit Protection and the mixed mode 4 Aa General PWM Frequency kHz 18 0 4 W Voltage Limits Over Voltage Limit V 45 0 Under Voltage Limit V 5 0 Short Circuit Protection Quick Mixing Separate FIGURE 83 General Power Stage configuration parameters Advanced Digital Motor Controllers User Manual 235 Using the Roborun Configuration Utility I RoboteQ The parameters for each motor are typically duplicated so that they can be set separately for each motor Expanding the node shows that we can set the Amps limit that the control ler will actively control the power output in order to not exceed it An Amps trigger value which if reached for a preset amount of time will trigger a user selectable Action This feature c
261. t at user defined periodic intervals This is done using the CTPS parameter See CTPS CANOpen TPDO Send Rate on page 223 TABLE 14 Commands mapped on TPDOs TPDO Object Index Sub Size Object Mapped TPDO1 0x2106 1 S32 User VAR 1 0x2106 2 User VAR 2 TPDO2 0x2106 3 S32 User VAR 3 0x2106 4 User VAR 4 TPDO3 0x2106 5 S32 User VAR 5 0x2106 6 User VAR 6 TPDO4 0x2106 7 S32 User VAR 7 0x2106 8 User VAR 8 S32 signed 32 bit word Receive Process Data Object RPDO Messages RPDOs are configured to capture runtime data destined to the controller RPDOs are CAN frames identified by their 11 bit header 4 bits 7 bits as mm Object Type NodelD RPDO1 0x200 Node ID RPDO2 0x300 Node ID RPDOS 0x400 Node ID RPDO4 0x500 Node ID Roboteq CANopen implementation supports RPDOs Data received using RPDOs are stored in 8 user variables from where they can be processed using MicroBasic scripting TABLE 15 Commands mapped on RPDOs RPDO Object Index Sub Size Object Mapped RPDO1 0x2005 9 S32 User VAR 9 0x2005 10 User VAR 10 RPDO2 0x2005 11 S32 User VAR 11 0x2005 12 User VAR 12 RPDO3 0x2005 13 32 User VAR 13 0x2005 14 User VAR 14 RPDO4 0x2005 15 32 User VAR 15 0x2005 16 User VAR 16 32 signed 32 bit word 128 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2
262. t bits llle 167 DC Set Decelerati n iE REG ER CER Wake ica 167 DS S tall Digital QUtDItS 5 sso mhi oe ee Ket RE KAG REPRE 167 DX Next Deceleration elle nnn 168 EES Save Configuration in EEPROM 2 0 c eee eee eee 168 EX Emergency Siop cesis aks y RE RE Eu REESE ES sas 168 G Go to Speed or to Relative Position leeren 168 H Load Home Counter cece lese ees 169 MG Emergency Stop Release celle 169 MS Stopan All Modes ele Ra m ep ex NAY ee ke Rea 169 P Go to Absolute Desired Position l l 169 PR Go to Relative Desired Position l l 170 PRX Next Go to Relative Desired Position 170 PX Next Go to Absolute Desired Position 170 R MicroBasit RUD ss ido ecc cio nets d NADAGANAN 171 S Motor Position Mode Velocity llle 171 SX Next VeloGlty c seid oe ana ERAEN cos tec es n oe o Cte 171 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 Robote VAR Set User Integer Variable celer 171 Runtime QUGTIes 5 suene ERE m READ ERE OR NUR RC EUROPE CR E aes 172 A Read Motor Amps 2020 aaa nnn 173 Al Read Analog Input eee 174 AIC Read Analog Input after Conversion llle 174 B Read User Boolean Variable leere 174 BA Read Battery AMPS 2 20 cee ee 175 BS Read BL Motor Speed in RPM 1 2 cece eee eee ee 17
263. table Stops the motor until command is changed to reversed Reverse limit switch Selectable Stops the motor until the command is changed forward Run script NA Start execution of MicroBasic script Load Home counter Selectable Load counter with Home value 64 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Analog Inputs Configurations and Use Configuring the Digital Inputs and the Action to use can be done very simply using the PC Utility See Digital Input and Output Parameters on page 235 Wiring instructions for the Digital Inputs can be found in Connecting Switches or Devices to Inputs shared with Outputs on page 44 Analog Inputs Configurations and Use The controller can do extensive conditioning on the analog inputs and assign them to differ ent use Each input can be disabled or enabled When enabled it is possible to select the whether capture must be as absolute voltage or relative to the controller s 5V Output Details on how to wire analog inputs and the differences between the Absolute and Relative captures can be found in Using the Analog Inputs to Monitor External Voltages on page 50 TABLE 6 Analog Capture Modes Analog Capture Mode Description Disabled Analog capture is ignored forced to O Absolute Analog capture measures real volts at the input Relative Analog captured is measured relative to the 5V Output which is typ ically around 4
264. tant Warning Beware that because of its sophistication the USB protocol is less likely to recover than RS232 should an electrical disturbance occur We recommend using USB for configuration and monitoring and use RS232 for field deployment Deploy USB based system only after performing extensive testing and verifying that it operates reliably in your particular environment Command Priorities The controller will respond to commands from one of three or four possible sources e Serial RS232 or USB Pulse Analog e Spektrum Radio when available One two three or all four command modes can be enabled at the same time When mul tiple modes are enabled the controller will select which mode to use based on a user selectable priority scheme The priority mechanism is described in details in Input Com mand Modes and Priorities on page 55 USB vs Serial Communication Arbitration Commands may arrive through the RS232 or the USB port at the same time They are exe cuted as they arrive in a first come first served manner Commands that are arriving via USB are replied on USB Commands arriving via the UART are replied on the UART Redi rection symbol for redirecting outputs to the other port exists e g a command can be made respond on USB even though it arrived on RS232 CAN Commands Command arriving via CAN share the same priority as serial commands and may conflict with command arriving via serial or USB CAN queries
265. teQ 2 IPRX nn mm Next position relative IACX nn mm Next acceleration DCX nn mm Next deceleration ISX Next velocity Example IPX 1 50000 will cause the motor to move to that new destination once the previous destination is reached PRX 10000 will cause the motor to move 10000 count back from the previous end destination If the next acceleration next deceleration or next velocity are not entered the value s used for the previous motion will be used Beware that the next commands must be entered while the motor is moving since the next commands will only be taken into account at the end of the current motion To chain more than two commands use a MicroBasic script or an external program to load new next command when the previous next commands become active The DR query can be used to detect that this transition has occurred and that a new next com mand can be sent to the controller PID Tunings To move with the desired motion profile the microcomputer onboard the controller com putes the exact position the motor is expected to be at every 1ms Then a PID control loop adjusts the power to the motor so that the motor is precisely at the desired counter value at every millisecond interval As long as the motor assembly can physically reach the accel eration and velocity smooth motion will result with relatively little need for tuning As for any position control loop the dominant PID parameter is the Proportio
266. tember 1 2013 I RoboteQ Torque Mode Using an External Amps Sensor Torque Mode Using an External Amps Sensor The limitations described above can be circumvented using an external amps sensor device such as the Allegro Microsystems ACS756 family of hall sensors These inexpen Sive devices can be inserted in series with one of the motor leads while connected to one of the controller s analog inputs Since it is directly measuring the real motor amps this sensor will provide accurate current information in all load and regeneration conditions Controller Allegro ACS756 Current Sensor FIGURE 56 Torque external sensor To operate in torque mode simply configure the selected analog input range to this of the sensor s output at the min and max current that will correspond to the 1000 to 1000 command range Configure the analog input as feedback for the selected motor channel Then operate the controller in Position Tracking Mode See Position Tracking Mode on page 93 While the controller will not actually be tracking position it will adjust the output based on the command and sensor feedback exactly in the same fashion Advanced Digital Motor Controllers User Manual 109 Closed Loop Torque Mode Robote 110 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Use and benefits of Serial Communication SECTION 12 Serial RS232 USB Operation This section
267. ter sets the raw value on the input that will be considered as the minimum command value The min max and center are useful to set the range of a joystick or of a feedback sensor Internally to the controller commands and feedback values are converted to 1000 0 1000 Syntax AAMIN cc nn AMIN cc Where nn 0 to 5000mV Default Value 100mV Example AAMIN 5 250 Set Analog Input 5 Min to 250mV Advanced Digital Motor Controllers User Manual 203 Commands Reference I RoboteQ AMINA Action at Analog Min This parameter selects what action should be taken if the minimum value that is defined in AMIN is reached The list of action is the same as these of the DINA see DINA on page 199 For example this feature can be used to create soft limit switches in which case the motor can be made to stop if the feedback sensor in a position mode has reached a minimum value Syntax AAMINA cc aa mm AMINA cc Where ce Input channel number aa DIN Action list mm mot1 16 mot2 32 Default Value No action on all channels Example AAMINA 2 33 Stops motor 2 l e 33 1 motor stop 32 motor2 AMOD Enable and Set Analog Input Mode This parameter is used to enable disable an analog input pin When enabled it can be made to measure an absolute voltage from O to 5V or a relative voltage that takes the 5V output on the connector as the 5V reference The absolute mode is preferred whenever measuring a v
268. than or equal relational operator gt returns true if the first operand is greater than or equal to the second false otherwise expression gt expression Operator The addition assignment operator var expression An expression using the assignment operator such as x y is equivalent to Operator The subtraction assignment operator var expression An expression using the assignment operator such as z Operator The multiplication assignment operator var expression An expression using the assignment operator such as x y is equivalent to Advanced Digital Motor Controllers User Manual 157 MicroBasic Scripting Robote Operator The division assignment operator var expression An expression using the assignment operator such as z Operator The left shift assignment operator var lt lt expression An expression using the assignment operator such as x lt lt y is equivalent to X X lt lt y gt gt Operator The right shift assignment operator var gt gt expression An expression using the gt gt assignment operator such as x gt gt y is equivalent to x x gt gt y Operator Square brackets are used for arrays see Arrays on page 145 GetValue This function is used to read operating parameters from the controller at runtime The func tion requires an Operating Item and an optional Ind
269. the status of each of the inputs Syntax D cc Reply D nn Where ce Digital Inout number nn b1 b2 2 4 b3 4 bn 2 Examples Q D R D 17 Inputs 1 and 5 active all others inactive Notes The total number of Digital input channels varies from one controller model to another and can be found in the product datasheet DI Read Individual Digital Inputs Reports the status of an individual Digital Input The query response is a boolean value 0 or 1 Syntax DI cc Reply Dl nn 178 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Runtime Queries Where cc Digital Input number nn 0 or 1 state for each input Examples Q DI R Dl 1 0 1 0 1 0 Q DI 1 R DIZO Notes The total number of Digital input channels varies from one controller model to another and can be found in the product datasheet DO Read Digital Output Status Reads the actual state of all digital outputs The response to that query is a single number which must be converted into binary in order to read the status of the individual output bits Syntax DO cc Reply DO nn Where cc Digital Input number nn di d2 2 d3 4 dn 277 Examples Q DO R DO 17 Outputs 1 and 5 active all others inactive Q DO 1 R DO 1 Queried output 1 is active Notes When querying an individual output the reply is O or 1 depending on its status The total number of Digita
270. thick black lines are mandatory e Connect the thick black wire s or the ground terminal to the minus terminal of the battery that will be used to power the motors Connect the thick red wire s or VMot terminal to the plus terminal of the battery The motor battery may be of 12V up to the maximum voltage specified in the controller model datasheet The controller must be powered On Off using switch SW1on the Power Control wire terminal Grounding this line powers Off the controller Floating or pulling this line to a voltage will power On the controller SW1 is a common SPDT 1 Amp or more switch Use a suitable high current fuse F1 as a safety measure to prevent damage to the wiring in case of major controller malfunction Littlefuse ATO or MAXI series 24 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Controller Powering Schemes The battery must be connected in permanence to the controller s Red wire s or VMot terminal via a high power emergency switch SW2 as additional safety mea sure Partially discharged batteries may not blow the fuse while still having enough power left to cause a fire Leave the switch SW2 closed at all times and open only in case of an emergency Use the main On Off switch SW1 for normal operation This will prolong the life of SW2 which is subject to arcing when opening under high current with consequent danger of contact welding e If installing
271. tic arms life size models and other heavy loads The two position modes are similar and differ as follows Position Relative Mode The controller accepts a command ranging from 1000 to 1000 from serial USB analog joystick or pulse The controller reads a position feedback sensor and converts the signal into a 1000 to 1000 feedback value at the sensor s min and max range respectively The controller then moves the motor so that the feedback matches the command using a con trolled acceleration set velocity and controlled deceleration This mode requires several settings to be configured properly but results in very smoothly controlled motion Position Tracking Mode This mode is identical to the Position Relative mode in the way that commands and feed back are evaluated However the controller will move the motor simply using a PID com paring the command and feedback without controlled acceleration and as fast as possible Advanced Digital Motor Controllers User Manual 93 Closed Loop Relative and Tracking Position Modes I RoboteQ This mode requires fewer settings but often results in a motion that is not as smooth and harder to control overshoots Selecting the Position Modes The two position modes are selected by changing the Motor Control parameter to Closed Loop Position This can be done using the corresponding menu in the Power Output tree in the Roborun utility It can also be done using the associated seri
272. times easier to work with compared to full counter reading as smaller numbers are usually returned Syntax CBR Reply CBR nn Where nn counts since last read CF Read Raw CAN Received Frames Count This query is used to read the number of received CAN frames pending in the FIFO buffer and copies the oldest frame into the read buffer from which it can then be accessed Sending CF again copies the next frame into the read buffer Syntax CF Reply CF nn Where nn number of frames pending CIA Read Internal Analog Command Returns the motor command value that is computed from the Analog inputs whether or not the command is actually applied to the motor This query can be used for example to read the command joystick from within a MicroBasic script or from an external microcom puter even though the controller may be currently responding to RS232 or Pulse command because of a higher priority setting The returned value is the raw Analog input value with all the adjustments performed to convert it to a command Min Max Center Deadband Lin earity Syntax CIA Reply CIA nn Where nn command value in 1000 range CIP Read Internal Pulse Command Returns the motor command value that is computed from the Pulse inputs whether or not the command is actually applied to the motor This query can be used for example to read the command joystick from within a MicroBasic script or from an external microcomputer even tho
273. tion The controller will detect large tracking errors due to mechanical or sensor failures and shut down the motor in case of problem in closed loop speed or position system The detection mechanism looks for the size of the tracking error desired position vs actual position and the duration the error is present Three levels of sensitivity are provided in the controller configuration 1 250ms and Error 100 2 500ms and Error gt 250 3 1000ms and Error 500 When an error is triggered the motor channel is stopped until the error has disappeared the motor channel is reset to open loop mode The loop error value can be monitored in real time using the Roborun PC utility Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Modes Description SECTION 9 Closed Loop Relative and Tracking Position Modes This section describes the controller s Position Relative and Position Tracking modes how to wire the motor and position sensor assembly and how to tune and operate the controller in these modes Modes Description In these two position modes the axle of a geared down motor is coupled to a position sen sor that is used to compare the angular position of the axle versus a desired position The controller will move the motor so that it reaches this position This feature makes it possible to build ultra high torque jumbo servos that can be used to drive steering columns robo
274. tion Decceleration Mixing Command Checks Output gt Y re PE Short Motor Detect Outs Feedback Channel gt gt mu Mixing a Configuration Estop Amps Temperature Limit Switches Voltages ap FIGURE 42 Simplified diagram of Power Stage operation Advanced Digital Motor Controllers User Manual 73 Motor Operating Features and Options I RoboteQ Global Power Configuration Parameters PWM Frequency The power MOSFETs are switched at 18kHz by default This frequency can set to another value ranging from 10 kHz to 32 kHz Increasing the frequency reduces the efficiency due to switching losses Lowering the frequency eventually creates audible noise and can be inefficient on low inductance motors Changing the PWM frequency results in no visible change in the motor operation and should be left untouched Overvoltage Protection The controller includes a battery voltage monitoring circuit that will cause the output tran sistors to be turned Off if the main battery voltage rises above a preset Over Voltage threshold The value of that threshold is set by default and may be adjusted by the user The default value and settable range is given in the controller model datasheet This protection is designed to prevent the voltage created by the motors during regenera tion to be amplified to unsafe levels by the switching circuit The controller will resume normal operation when the measured voltage d
275. tion as a percentage value This feature is used to connect motors with voltage rating that is less than the battery voltage For example using a factor of 5096 it is possible to connect a 12V motor onto a 24V system in which case the motor will never see more than 12V at its input even when the maximum power is applied Syntax MXPF cc nn MXPF cc Where cc Motor channel nn power scaling 220 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Motor Channel Configuration and Set Points Allowed Range 25 to 100 Default Value 10096 Example MXPF 2 50 Scale output power by 5096 MXPR Motor Max Power Reverse This parameter is the same as the MXPF Motor Max Power Forward but applied when the motor is moving in the reverse direction Syntax MXPR cc nn MXPR cc Where cc Motor channel nn power scaling Allowed Range 25 to 100 Default Value 10096 MXRPM Max RPM Value This parameter lets you select which speed value would be considered as 1000 as the internal relative speed parameter The controller can measure speed in absolute RPM val ues However for internal use in some modes controller uses a speed value relative to a user defined max RPM value The MXRPM value lets you select what that max level will be Syntax MXRPM cc nn MXRPM cc Where cc Channel number nn Max RPM value Allowed Range 10 to 65000 Default Value 3000 Notes Th
276. tive Input Use Motor Command 1 4 S Range Calibrate Input Min mV 100 Input Center mV 2500 Input Max mV 4900 Input Deadband 5 Action on Min No Action Action on Max No Action FIGURE 71 Min Max Center parameters and auto calibration for Analog amp Pulse Inputs 230 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 lIRoboteQ Configuration Tab When clicking on the Calibrate link a window pops up that displays a bar showing the live value of that analog or pulse input in real time The window contains three cursors that move in relation to the input capturing the mini mum and maximum detected values It is possible to further manually adjust further these settings by moving the sliders The Center value will be either the value of the inputs or the joystick position at the time when clicking on the Done button The Center value can also be automatically computed to be the middle between Min and Max when enabling the Auto Center checkbox Clicking on Reset resets the Min Max and Center sliders and lets you restart the operation Range Editor Alnl x Aln1 Input 3 2764A Minimum 0 g o FIGURE 72 Auto calibration window After clicking on the Done button the capture values will appear in the Min Max and Center nodes in the tree with the orange next to them indicating that they have changed but not yet be save
277. tors see Using the Controller with a Power Supply on page 30 However if there is a possibility that the motor could be made to spin and gener ate a voltage higher than 40V a path to the battery must be provided even after a fuse is blown This can be accomplished by inserting a diode across the fuse as shown in Figure 2 on page 24 Please download the Application Note Understanding Regeneration from the www robo teq com for an in depth discussion of this complex but important topic Important Warning Use the controller only with a rechargeable battery as supply to the Motor Power wires thick black and red wires If a transformer or power supply is used damage to the controller and or power supply may occur during regeneration See Using the Controller with a Power Supply on page 30 for details Important Warning Avoid switching Off or cutting open the main power cables while the motors are spinning Damage to the controller may occur Always ground the Power Control wire to turn the controller Off Using the Controller with a Power Supply Using a transformer or a switching power supply is possible but requires special care as the current will want to flow back from the motors to the power supply during regenera tion As discussed in Power Regeneration Considerations on page 30 if the supply is not able to absorb and dissipate regenerated current the voltage will increase until the over voltage protection
278. tput that is present on the connector See Analog Inputs Configurations and Use on page 65 Analog Range Calibration If the joystick movement does not reach full OV and 5V and or if the joystick center point does not exactly output 2 5V the analog inputs can be calibrated to compensate for this See Min Max and Center adjustment on page 66 and Deadband Selection on page 67 Using Digital Input for Inverting direction Any digital input can be configured to change the motor direction when activated See Digital Inputs Configurations and Uses on page 64 Inverting the direction has the same effect as instantly moving the command potentiometer to the same level the opposite direction The motor will first return to O at the configured deceleration rate and go to the inverted speed using the configured acceleration rate Safe Start in Analog Mode By default the controller is configured so that in Analog command mode no motor will start until all command joysticks are centered The center position is the one where the input equals the configured Center voltage plus the deadband After that the controller will respond to changes to the analog input The safe start check is not performed again until power is turned off Protecting against Loss of Command Device By default the controller is protected against the accidental loss of connection to the com mand potentiometer This is achieved by adding resistors in series with the p
279. troller Ground FIGURE 25 RC Radio powered by controller electrical diagram 50 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 i RoboteQ Connecting Optical Encoders Connecting to PWM Joysticks and Position Sensors The controller s pulse inputs can also be used to connect to sensors with PWM outputs These sensors provide excellent noise immunity and precision When using PWM sensors configure the pulse input in Duty Cycle mode Beware that the sensor should always be pulsing and never output a steady DC voltage at its ends The absence of pulses is consid ered by the controller as a loss of signal See also Using Sensors with PWM Outputs for Commands on page 60 Connecting Optical Encoders Optical Incremental Encoders Overview Optical incremental encoders are a means for capturing speed and travelled distance on a motor Unlike absolute encoders which give out a multi bit number depending on the reso lution incremental encoders output pulses as they rotate Counting the pulses tells the application how many revolutions or fractions of the motor has turned Rotation velocity can be determined from the time interval between pulses or by the number of pulses within a given time period Because they are digital devices incremental encoders will measure distance and speed with perfect accuracy Since motors can move in forward and reverse directions it is necessary to differentiate the
280. ture encoder construction Unlike absolute encoders incremental encoders have no retention of absolute position upon power loss When used in positioning applications the controller must move the motor until a limit switch is reached This position is then used as the zero reference for all subsequent moves Recommended Encoder Types The module may be used with most incremental encoder module as long as they include the following features e Two quadrature outputs Ch A Ch B single ended or differential signals 2 3 0V minimum swing between O Level and 1 Level on quadrature output e 5VDC operation 50mA or less current consumption per encoder More sophisticated incremental encoders with index and other features may be used however these additional capabilities will be ignored The choice of encoder resolution is very wide and is constrained by the module s maxi mum pulse count at the high end and measurement resolution for speed at the low end Specifically the controller s encoder interface can process 1 million counts per second 30 000 counts per second max on SDCxxxx As discussed above a count is generated for each transition on the Channel A and Channel B Therefore the module will work with encoders outputting up to 62 500 pulses per second Commercial encoders are rated by their numbers of Pulses per Revolution also some times referred as Number of Lines or Cycles per Revolution Carefully read the manu f
281. ue function is available for reading real time operating parameters such as Ana log Digital input status Amps Speed or Temperature 136 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Script Structure and Possibilities The SetCommand function is used to send motor commands or to activate the Digital Out puts Practically all controller parameters can be access using these 4 commands typically by adding the command name as defined in the Serial RS232 USB Operation on page 111 preceded with the _ character For example reading the Amps limit configuration for channel 1 is done using getvalue ALIM 1 See the MicroBasic Language Reference on page 143 for details on these functions and how to use them Timers and Wait The language supports four 32 bit Timer registers Timers are counters that can be loaded with a value using a script command The timers are then counting down every millisecond independently of the script execution status Functions are included in the language to load a timer read its current count value pause resume count and check if it has reached O Timers are very useful for implementing time based motion sequences A wait function is implemented for suspending script execution for a set amount of time When such an instruction is encountered script execution immediately stops and no more time is allocated to script execution until the specified amounts of mi
282. ugh the controller may be currently responding to RS232 or Analog command be cause of a higher priority setting The returned value is the raw Pulse input value with all the adjustments performed to convert it to a command Min Max Center Deadband Linearity Syntax CIP Reply CIP nn Where nn command value in 1000 range Advanced Digital Motor Controllers User Manual 177 Commands Reference IRo boteQ CIS Read internal Serial Command Returns the motor command value that is issued from the serial input or from a MicroBasic script whether or not the command is actually applied to the motor This query can be used for example to read from an external microcomputer the command generated inside MicroBasic script even though the controller may be currently responding to a Pulse or Analog command because of a higher priority setting Syntax CIS Reply CIS nn Where nn command value in 1000 range CR Read Encoder Counter Relative Returns the amount of counts that have been measured from the last time this query was made Relative counter read is sometimes easier to work with compared to full counter reading as smaller numbers are usually returned Syntax CR cc Reply CR nn Where cc channel number nn counts since last read D Read Digital Inputs Reports the status of each of the available digital inputs The query response is a single dig ital number which must be converted to binary and gives
283. um Receiver This maintenance command is used to make the receiver enter the Bind mode so that it can be paired with a matching transmitter This command is only for use on controller mod els equipped with a connector for a Spektrum brand SPM9545 satellite receiver Binding is done following this sequence 1 Disconnect the 3 pin Spektrum receiver cable from the controller 2 Send the BIND command 3 Immediately replug the receiver Maximum allowed time is around 2s or until the is returned by the controller The receiver LED will be flashing 4 Turn on the transmitter while holding the bind switch The receiver LED will stop flashing and remain on indicating that the Binding was successful DFU Update Firmware via USB Firmware update can be performed via the RS232 port or via USB When done via USB the DFU command is used to cause the controller to enter in the firmware upgrade mode This command must be used with care and must be followed by a 9 digit safety key to pre vent accidental use Once the controller has received the DFU command it will no longer respond to the PC utility and no longer be visible on the PC When this mode is entered you must launch the separate upgrade utility to start the firmware upgrade process Syntax DFU safetykey Where safetykey 321654987 Example DFU 321654987 190 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Maintenance Commands
284. und are not detected Wire inductance causes current to rise slowly relative to the PWM On Off times Short cir cuit will typically not be detected at low PWM ratios which can cause significant heat to eventually accumulate in the wires load and the controller even though the controller will typically not suffer direct damage Increasing the short circuit sensitivity will lower the PWM ratio at which a short circuit is detected Since the controller can handle very large current during its normal operation Only direct short circuits between wires will cause sufficiently high current for the detection to work Short circuits inside motors or over long motor wires may go undetected A simplified short circuit protection logic is implemented on some controller models Check with controller datasheet for details Mixing Mode Select Mixed mode is available as a configuration option in dual channel controllers to create tank like steering when one motor is used on each side of the robot Channel 1 is used for mov ing the robot in the forward or reverse direction Channel 2 is used for steering and will change the balance of power on each side to cause the robot to turn Figure 43 below illus trates how the mixed mode motor arrangement Motor 1 Controller Motor 2 FIGURE 43 Effect of commands to motor examples in mixed mode Advanced Digital Motor Controllers User Manual Robote Motor Operating Features and Options
285. unt Relative _CF GE Channel Read Raw CAN Received Frames Count CMDANA _CIA Channel Read Internal Analog Command CMDPLS CIP Channel Read Internal Pulse Command CMDSER _CIS Channel Read Internal Serial Command _RELCNTR _CR Channel Read Encoder Count Relative _DIGIN _D InputNbr Read All Digital Inputs _DIN _DI InputNbr Read Individual Digital Inputs _DIGOUT _DO none Read Current Digital Outputs DREACHED _DR Channel Destination Position Reached flag _LPERR E none Read Closed Loop Error _FEEDBK S none Read Feedback _FLTFLAG FF none Read Fault Flags _FID _FID none Read Firmware ID String _STFLAG _FS none Read Status Flags _SPEKTRUM _K Channel Read Spektrum Radio Capture _LOCKED _LK none Read Lock status MOTCMD _M Channel Read Actual Motor Command _MEMS _MA InputNbr Read MEMS Accelerometer _MBB _MBB VarNbr Read Microbasic Integer Variable Advanced Digital Motor Controllers User Manual 159 MicroBasic Scripting Robote TABLE 17 Command Short Arguments Description _MBV _MBV VarNbr Read Microbasic Boolean Variable _MGDET _MGD none Read Magsensor Track Detect MGMRKR _MGM Channel Read Magsensor Markers _MGSTATUS _MGS none Read Magsensor Status _MGTRACK _MGT Channel Read Magsensor Track Position _MOTPWR _P Channel Read Applied Power Level _PLSIN _P InputNbr Read Pulse Inputs _PLSINC _PIC InputNbr Read Pulse In
286. uses a flexible power supply scheme that is best described in Figure 1 In this diagram it can be seen that the power for the Controller s internal microcomputer is separate from this of the motor drivers The microcomputer circuit is connected to a DC DC converter which takes power from either the Power Control input or the VMot input A diode circuit that is included in most controller models is designed to automatically select one power source over the other and lets through the source that has the highest voltage Mot1 Mot1 Vmot Channel 1 MOSFET Power Stage GND Power Control amp Backup Microcomputer amp MOSFET Drivers GND GND Channel 2 MOSFET Power Stage Vmot Mot2 Mot2 not included in high voltage models FIGURE 1 Representation of the controller s Internal Power Circuits When powered via the Power Control input only the controller will turn On but motors will not be able to turn until power is also present on the VMot wires or Tab The Power Control input also serves as the Enable signal for the DC DC converter When floating or pulled to above 1V the DC DC converter is active and supplies the controller s microcomputer and drivers thus turning it On When the Power Control input is pulled to Ground the DC DC converter is stopped and the controller is turned Off The Power Control input MUST be connected to Ground to turn the Controller Off For turn ing the controller On
287. v1 1 RCB500 05 24 2010 MEM gJB aap BP Aq Ayy yepp rrr FIGURE 69 Configuration tab The configuration tab contains two configuration trees the one on the left deals mostly with the I O and control signals while the tree on the right deals with the power output and motor parameters The exact content and layout of a tree depends on the controller model that is detected The trees are for the most part self explanatory and easy to follow Each node will expand when clicking on the small triangle next to it When selecting a tree item the value of that item will show up as an underscored value Clicking on it enables a menu list or a freeform field that you can select to enter a new configuration values After changing a configuration an orange star appears next to that item indicating that this parameter has been changed but not yet saved to the controller Clicking on the Save to the controller button moves this parameter into the controller s RAM and it becomes effective immediately This also also saves the parameter into the controller s EEPROM so that it is loaded the next times the controller is powered up again Advanced Digital Motor Controllers User Manual 229 Using the Roborun Configuration Utility Robote Entering Parameter Values Depending on the node type values can be entered in one of many forms Numerical e Boolean e g Enable Disable Selection List Text String
288. value of O RawCAN Configurations In the RawCAN mode incoming frames may be filtered or not by changing the ListenNo delD parameter that is shared with the MiniCAN mode A value of O will capture all incom ing frames and it will be up to the user to set the ones wanted Any other value will cause the controller to capture only frames from that sender Using RawCAN Mode In the RawCAN Mode received unprocessed data packets can be read by the user Like wise the user can build a packet with any content and send it on the CAN network A FIFO buffer will capture up to 16 frames CAN packets are essentially composed by a header and a data payload The header is an 11 bit number that identifies the sender s address bits O to 6 and a packet type bits 7 to 10 Data payload can be 0 to 8 bytes long Checking Received Frames Received frames are first loaded in the 16 frame FIFO buffer Before a frame can be read it is necessary to check if any frames are present in the buffer using the CF query The query can be sent from the serial USB port or from a MicroBasic script using the get value CF function The query will return the number of frames that are currently pending and copy the oldest frame into the read buffer from which it can then be accessed Send ing CF again copies the next frame into the read buffer 118 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Using RawCAN Mo
289. will clear the history buffer of all queries that may be stored in it If the con troller was in the process of automatically sending queries from the buffer then receiving this command will also cause the sending to stop Syntax C Reply None 188 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 I RoboteQ Query History Commands nn Start Automatic Sending This command will initiate the automatic retrieving and execution of queries from the his tory buffer The number that follows the command is the time in milliseconds between rep etition A single query is fetched and executed at each time interval Syntax 8 nn Reply QQ at every nn time intervals Where QO is reply to query in the buffer nn time in ms Range nn 1 to 32000ms Advanced Digital Motor Controllers User Manual 189 Commands Reference I RoboteQ Maintenance Commands This section contains a few commands that are used occasionally to perform maintenance functions TABLE 22 Maintenance Commands Command Argument Description BIND None Bind Spektrum Receiver DFU Key Enter Firmware Update via USB EELD None Load Parameters from EEPROM EERST Key Restore Factory Defaults EESAV None Save Parameters to EEPROM LK Key Lock Configuration read RESET Channel Key Reset Controller STIME Hours Mins Secs Set Time UK Key Unlock Configuration read BIND Bind Spektr
290. will not interfere with serial USB operation 114 Advanced Digital Motor Controllers User Manual Version 1 3 September 1 2013 IRo boteQ Communication Protocol Description Script generated Commands Commands that are issued from a user script are handled by the controller exactly as serial commands received via USB or RS232 Care must be taken that conflicting commands are not sent via the USB serial at the same time that a different command is issued by the script Script commands are also subject to the serial Watchdog timer Motors will be stopped and command input will switch according to the Priority table if the Watchdog timer is allowed to timeout Communication Protocol Description The controller uses a simple communication protocol based on ASCII characters Com mands are not case sensitive a is the same as A Commands are terminated by carriage return Hex 0x0d V The underscore character is interpreted by the controller as a carriage return This alter nate character is provided so that multiple commands can be easily concatenated inside a single string All other characters lower than 0x20 space have no effect Character Echo The controller will echo back to the PC or Microcontroller every valid character it has received If no echo is received one of the following is occurring e echo has been disabled the controller is Off the controller may be defective Command Acknowledgement
291. write the controller s many possible oper ating modes It provides a user friendly interface for viewing and editing the configuration parameters described in Set Read Configuration Commands on page 194 m a IR Roborun Jr oc ili Work Offi Motor Control Utility eae Rev 1 1 5 22 10 View Pinout Control Unit H Type Controller Model HDC2450 Configuration Run Console Scripting Inputs Outputs Power Output Auto Load Configuration in Controller 4 9 Commands bg General Load from Controller D 3 Command Priorities D gia Motor Output pam D 7 Command Adjustments 4 da Motor2 Output Save to Controller b Q9 Command Safety D 8 Amps Limits b 5 Telemet D jd Power Adjust 9 2 ga renee ats Load Profile from Disk 4 Rf Encoders 4 d Acceleration a fuf Encoder 1 Acceleration ms 200 ana Use Feedback xJg 1512 Decceleration me 200 Operating Mode Open Loop Speed Pulses Rev 2000 pa fm RPM 100 3000 Biag Closed Loop Paraet Restore Factory Defaults Min Limit 2147483648 Action at Min No Action Max Limit 134217727 Action at Max No Action a hf Encoder 2 Use Feedback 2 ae Pulses Rev 1000 RPM 100 6000 Min Limit 2147483648 Action at Min No Action Max Limit 134217727 Action at Max No Action b gt Digital Inputs b Xy Analog Inputs b Pulse Inputs D 4 amp Digital Outputs Apply In Out Labels Found COMI COM2 COM2 is Open Firmware ID Roboteq
292. y simple or hexadecimal escape sequence Micro Basic only handles strings using the Print command Strings cannot be stored in variable and no string hanaling instructions exist Simple Escape Sequence The following escape sequences can be used to print non visible or characters Sequence V v NO Na No f n r t v Description Single quote Double quote Backslash Null Alert Backspace Form feed New line Carriage return Horizontal tab Vertical tab Hexadecimal Escape Sequence Hexadecimal escape sequence is represented in a set of hexadecimal digits 0 9 A F preceded by x in the string such as x10 for character with ASCII 16 Since a hexadecimal escape sequence can have a variable number of hex digits the string literal x123 contains a single character with hex value 123 To create a string containing the character with hex value 12 followed by the character 3 one could write x00123 So to represent a string with the statement Hello World followed by a new line you may use the following syntax Hello World n Blocks and Labels A group of executable statements is called a statement block Execution of a statement block begins with the first statement in the block Once a statement has been executed the next statement in lexical order is executed unless a statement transfers execution elsewhere A label is an identifier that identifies a particular position within the statement block
293. y to send more date to the serial or USB port than can actually be output physically by these ports The print command is therefore limited to 32 characters per 1ms time slot Printing longer strings will force a 1ms pause to be inserted in the program execution every 32 characters Advanced Digital Motor Controllers User Manual 137 MicroBasic Scripting I RoboteQ Editing Building Simulating and Executing Scripts Editing Scripts An editor is available for scripting in the RoborunPlus PC utility See Scripting Tab on page 243 Roborun scripting for details on how to launch and operate the editor The edit window resembles this of a typical IDE editor with most noticeably changes in the fonts and colors depending on the type of entry that is recognized as it is entered This capability makes code easier to read and provides a first level of error checking Code is entered as free form text with no restriction in term of length indents use or other Building Scripts Building is the process of converting the Basic source code in the intermediate Bytecode anguage that is understood by the controller This step is nearly instantaneous and nor mally transparent to the user unless errors are detected in the program Build is called automatically when clicking on the Download to Device or Simulate but tons Building can be called independently by clicking on the Build button This step is nor mally not necess
294. y works with Integer or Boolean values It is not possible to store or manipulate decimal values This constraint results in more efficient memory usage and faster script execution This constraint is usually not a limitation as it is generally sufficient to work with smaller units e g millivolts instead of Volts or milliamps instead of Amps to achieve the same precision as when working with decimals The language does not support String variables and does not have string manipulation functions Basic string support is provided for the Print command Variable content after Reset All integer variables are reset to O and all Boolean variables are reset to False after the con troller is powered up or reset When using a variable for the first time in a script its value can be considered as 0 without the need to initialize it Integer and Boolean variables are also reset whenever a new script is loaded When pausing and resuming a script all variables keep the values they had at the time the script was paused Controller Hardware Read and Write Functions The MicroBasic scripting language includes special functions for reading and writing con figuration parameters Most configuration parameters that can be read and changed using the Configuration Tab in the Roborun PC utility or using the Configuration serial commands can be read and changed from within a script The GetConfig and SetConfig functions are used for this purpose The GetVal

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