User Manual
Table Of Contents
- Revision History
- Introduction
- Refer to the Datasheet for Hardware-Specific Issues
- User Manual Structure and Use
- SECTION 1 Connecting Power and Motors to the Controller
- SECTION 2 Safety Recommendations
- SECTION 3 Connecting Sensors and Actuators to Input/Outputs
- SECTION 4 I/O Configuration and Operation
- SECTION 5 Magnetic Sensor
- SECTION 6 Command Modes
- SECTION 7 Motor Operating Features and Options
- SECTION 8 Brushless Motor Connections and Operation
- SECTION 9 AC Induction MotorOperation
- SECTION 10 Closed Loop Speed and Speed Position Modes
- SECTION 11 Closed Loop Relative and Tracking Position Modes
- SECTION 12 Closed Loop Count Position Mode
- SECTION 13 Closed Loop Torque Mode
- SECTION 14 Serial (RS232/RS485/USB/TCP) Operation
- SECTION 15 Commands Reference
- SECTION 1: Connecting Power and Motors to the Controller
- Power Connections
- Controller Power
- Controller Powering Schemes
- Mandatory Connections
- Connection for Safe Operation with Discharged Batteries (note 1)
- Use precharge Resistor to prevent switch arcing (note 2)
- Protection against Damage due to Regeneration (notes 3)
- Connect Case to Earth if connecting AC equipment (note 4)
- Avoid Ground loops when connecting I/O devices (note 5)
- Connecting the Motors
- Single Channel Operation
- Power Fuses
- Wire Length Limits
- Electrical Noise Reduction Techniques
- Battery Current vs. Motor Current
- Measured and Calculated Currents
- Power Regeneration Considerations
- Using the Controller with a Power Supply
- SECTION 2: Safety Recommendations
- SECTION 3: Connecting Sensors and Actuators to Input/Outputs
- Controller Connections
- Controller’s Inputs and Outputs
- Connecting devices to Digital Outputs
- Connecting Switches or Devices to direct Digital Inputs
- Connecting a Voltage Source to Analog Inputs
- Connecting Tachometer to Analog Inputs
- Connecting External Thermistor to Analog Inputs
- Using the Analog Inputs to Monitor External Voltages
- Connecting Sensors to Pulse Inputs
- Connecting SSI Sensors
- Connecting Optical Encoders
- Connecting the Encoder
- SECTION 4: I/O Configuration and Operation
- Basic Operation
- Input Selection
- Digital Inputs Configurations and Uses
- Analog Inputs Configurations and Use
- Pulse Inputs Configurations and Uses
- Digital Outputs Configurations and Triggers
- Encoder Configurations and Use
- SSI Configuration and Use
- Hall and other Rotor Sensor Inputs
- Sensor Min Max values
- Relative Speed
- Brake Release
- Roboteq Products Connection and Operation
- SECTION 5: Roboteq Products Connection and Operation
- SECTION 6: Command Modes
- Input Command Modes and Priorities
- Operating the Controller in RC mode
- Using Sensors with PWM Outputs for Commands
- Operating the Controller In Analog Mode
- Monitoring and Telemetry in RC or Analog Modes
- Using the Controller with a Spektrum Satellite Receiver
- Using the Controller in Serial (USB/RS232/RS485/TCP) Mode
- SECTION 7: Motor Operating Features and Options
- SECTION 8: Brushless Motor Connections and Operation
- SECTION 9: AC Induction MotorOperation
- SECTION 10: Closed Loop Speed and Speed-Position Modes
- SECTION 11: Closed Loop Relative and Tracking Position Modes
- Modes Description
- Selecting the Position Modes
- Position Feedback Sensor Selection
- Sensor Mounting
- Feedback Sensor Range Setting
- Adding Safety Limit Switches
- Using Current Trigger as Protection
- Operating in Closed Loop Relative Position Mode
- Operating in Closed Loop Tracking Mode
- Position Mode Relative Control Loop Description
- PID tuning in Position Mode
- PID Tuning Differences between Position Relative and Position Tracking
- Loop Error Detection and Protection
- SECTION 12: Closed Loop Count Position Mode
- SECTION 13: Closed Loop Torque Mode
- SECTION 14: Serial (RS232/ RS485/USB/TCP) Operation
- SECTION 15: Commands Reference
- Commands Types
- Runtime Commands
- AC Set Acceleration
- AX Next Acceleration
- B Set User Boolean Variable
- BND Spectrum Bind
- C Set Encoder Counters
- CB Set Brushless Counter
- CG Set Motor Command via CAN
- CS CAN Send
- CSS Set SSI Sensor Counter
- CU Raw Redirect Send
- D0 Reset Individual Digital Out bits
- D1 Set Individual Digital Out bits
- DC Set Deceleration
- DS Set all Digital Out bits
- DX Next Deceleration
- EES Save Configuration in EEPROM
- EX Emergency Stop
- G Go to Speed or to Relative Position
- GIQ Go to Torque Amps
- GID Go to Torque Amps
- H Load Home counter
- MG Emergency Stop Release
- MS Stop in all modes
- P Go to Absolute Desired Position
- PR Go to Relative Desired Position
- PRX Next Go to Relative Desired Position
- PX Next Go to Absolute Desired Position
- R MicroBasic Run
- RC Set Pulse Out
- S Set Motor Speed
- SFT Safety Stop
- STT STO Self-Test
- SX Next Velocity
- VAR Set User Variable
- DS402 Runtime Commands
- CW – Control Word (DS402)
- Profile Position Mode
- Velocity Mode
- Other Modes
- FEW Following Error Window (DS402)
- FET Following Error Time Out (DS402)
- INT Interpolation Time Period (DS402)
- MSL Target Profile Velocity (DS402)
- PAC – Profile Acceleration (DS402)
- PDC – Profile Deceleration (DS402)
- PLT Software Position Limit (DS402)
- POS – Target Position (DS402)
- PSP – Profile Velocity (DS402)
- ROM – Modes of Operation (DS402)
- S16 – Target Velocity (DS402)
- SAC – Velocity Acceleration (DS402)
- SDC – Velocity Deceleration (DS402)
- SPC Target Profile Velocity (DS402)
- SPL – Velocity Min/Max Amount (DS402)
- TC – Target Torque (DS402)
- TSL – Torque Slope (DS402)
- Runtime Queries
- A Read Motor Amps
- AI Read Analog Inputs
- AIC Read Analog Input after Conversion
- ANG Read Rotor Angle
- ASI Read Raw Sin/Cos sensor
- B Read User Boolean Variable
- BA Read Battery Amps
- BCR Read Brushless Count Relative
- BMC Read BMS State Of Charge in AmpHours
- BMF Read BMS status flags
- BMS Read BMS switch states
- BS Read BL Motor Speed in RPM
- BSC Read BMS State of Charge in percentage
- BSR Read BL Motor Speed as 1/1000 of Max RPM
- C Read Encoder Counter Absolute
- CAN Read Raw CAN frame
- CB Read Absolute Brushless Counter
- CD Read Raw Redirect Received Frames Count
- CF Read Raw CAN Received Frames Count
- CHS CAN Consumer Heartbeat Status
- CIA Read Converted Analog Command
- CIP Read Internal Pulse Command
- CIS Read Internal Serial Command
- CL Read RoboCAN Alive Nodes Map
- CR Read Encoder Count Relative
- CSR Read Relative SSI Sensor Counter
- CSS Read Absolute SSI Sensor Counter
- D Read Digital Inputs
- DDT Read Raw Redirect Received Frame
- DI Read Individual Digital Inputs
- DO Read Digital Output Status
- DPA Read DC/Peak Amps
- DR Read Destination Reached
- E Read Closed Loop Error
- F Read Feedback
- FC Read FOC Angle Adjust
- FLW Read Flow Sensor Counter
- FF Read Fault Flags
- FID Read Firmware ID
- FIN Read Firmware ID (numerical)
- FM Read Runtime Status Flag
- FS Read Status Flags
- HS Read Hall Sensor States
- ICL Is RoboCAN Node Alive
- K Read Spektrum Receiver
- LK Read Lock status
- M Read Motor Command Applied
- MA Read Field Oriented Control Motor Amps
- MGD Read Magsensor Track Detect
- MGM Read Magsensor Markers
- MGS Read Magsensor Status
- MGT Read Magsensor Track Position
- MGY Read Magsensor Gyroscope
- MGX Read MagSensor Tape Cross Detection
- P Read Motor Power Output Applied
- PHA Read Phase Amps
- PI Read Pulse Inputs
- PIC Read Pulse Input after Conversion
- S Read Encoder Motor Speed in RPM
- SCC Read Script Checksum
- SDT Read Raw Redirect Received Frame as string
- SEC Read Sensor Errors
- SNA Read Sensor Angle
- SR Read Encoder Speed Relative
- SS Read SSI Sensor Motor Speed in RPM
- SSR Read SSI Sensor Speed Relative
- STT STO Self-Test Result
- T Read Temperature
- TM Read Time
- TR Read Position Relative Tracking
- TRN Read Control Unit type and Controller Model
- UID Read MCU Id
- V Read Volts
- VAR Read User Integer Variable
- SL Read Slip Frequency
- DS402 Runtime Queries
- AOM – Modes of Operation Display (DS402)
- CW – Control Word (DS402)
- SPE – Velocity Actual Value (DS402)
- FEW Following Error Window (DS402)
- FET Following Error Time Out (DS402)
- INT Interpolation Time Period (DS402)
- MSL Max Motor Speed (DS402)
- PAC – Profile Acceleration (DS402)
- PDC – Profile Deceleration (DS402)
- PLT Software Position Limit (DS402)
- PST Position Actual Value
- POS – Target Position (DS402)
- PSP – Profile Velocity (DS402)
- RMP – VL Velocity Demand (DS402)
- ROM – Modes of Operation (DS402)
- S16 – Target Velocity (DS402)
- SAC – Velocity Acceleration (DS402)
- SDC – Velocity Deceleration (DS402)
- SDM – Supported Drive Modes (DS402)
- SPL – Velocity Min/Max Amount (DS402)
- SW – Status Word (DS402)
- TC – Target Torque (DS402)
- TRQ – Target Torque (DS402)
- TSL – Profile Acceleration (DS402)
- VNM – Version Number (DS402)
- Query History Commands
- Maintenance Commands
- CLMOD – Motor/Sensor Setup
- CLRST Reset configuration to factory defaults
- CLSAV Save calibrations to Flash
- DFU Update Firmware via USB
- EELD Load Parameters from EEPROM
- EELOG Dump Flash Log Data
- EERST Reset Factory Defaults
- EESAV Save Configuration in EEPROM
- ERASE Erase Flash Log Data
- LK Lock Configuration Access
- RESET Reset Controller
- SLD Script Load
- STIME Set Time
- UK Unlock Configuration Access
- Set/Read Configuration Commands
- General Configuration and Safety
- ACS Analog Center Command to Start
- AMS Analog keep within Guard Bands
- BEE User Storage in Battery Backed RAM
- BRUN Script Auto-Start
- CLIN Command Linearity
- CPRI Command Priorities
- DFC Default Command value
- DMOD – Modbus Mode
- ECHOF Enable/Disable Serial Echo
- EE User-Defined Values
- ISM Raw Redirect Mode
- MDAL – Modbus Data Alignment
- MNOD – Modbus Slave ID
- PMS Pulse keep within Min & Max Safety
- RSBR Set RS232/RS485 baudrate
- RS485 Enable RS485
- RWD Serial Data Watchdog
- SCRO Select Print output port for scripting
- SKCTR Spektrum Center
- SKDB Spektrum Deadband
- SKLIN Spektrum Linearity
- SKMAX Spektrum Max
- SKMIN Spektrum Min
- SKUSE Assign Spektrum port to motor command
- STO – STO Enable
- TELS Telemetry String
- Analog, Digital, Pulse IO Configurations
- ACTR Analog Input Center (0)
- ADB Analog Input Deadband
- AINA Analog Input Use
- ALIN Analog Input Linearity
- AMAX Analog Input Max
- AMAXA Analog Input Action at Max
- AMIN Analog Input Min
- AMINA Analog Input Action at Min
- AMOD Analog Conversion Type
- APOL Analog Input Conversion Polarity
- DINA Digital Input Action
- DINL Digital Input Active Level
- DOA Digital Output Action
- DOL Digital Outputs Active Level
- PCTR Pulse Input Center
- PDB Pulse Input Deadband
- PINA Pulse Input Use
- PLIN Pulse Input Linearity
- PMAX Pulse Input Max
- PMAXA Pulse Input Action at Max
- PMIN Pulse Input Min
- PMINA Pulse Input Action at Min
- PMOD Pulse Input Capture Type
- PPOL Pulse Input Capture Polarity
- Motor Configurations
- ALIM Amps Limit
- ATGA Amps Trigger Action
- ATGD Amps Trigger Delay
- ATRIG Amps Trigger Level
- BKD Brake Delay
- BPR Bypass Trajectory/Ramp
- BRV Brake Release Voltage
- BHV Brake Hold Voltage
- BDT Brake Delay Time
- BLFB Closed loop Feedback Sensor
- BLSTD Stall Detection
- CLERD Close Loop Error Detection
- EDEC Motor Fault Deceleration Rate
- EHL Encoder Max Limit
- EHLA Encoder Action at Max
- EHOME Encoder Home Count
- ELL Encoder Min Limit
- ELLA Encoder Action at Min
- EMOD Encoder Usage
- EPPR Encoder Pulse/Rev Value
- ICAP PID Integrator Limit
- KDG PID Differential Gain
- KIG PID Integral Gain
- KPG PID Proportional Gain
- MAC Motor Acceleration Rate
- MDEC Motor Deceleration Rate
- MLX Molex Input
- MDIR Motor Direction
- MMOD Operating Mode
- MNRPM Min Speed RPM
- MVEL Position Mode Velocity
- MXMD Mixed Mode
- MXPF Motor Max Power Forward
- MXPR Motor Max Power Reverse
- MXRPM Max Speed RPM
- MXTRN Position Turns Min to Max
- OVH Overvoltage hysteresis
- OVL Overvoltage Limit
- OTL Over Temperature Limit
- SED Sensor Error Detection
- SCPR SSI Sensor Resolution
- SHL SSI Sensor Max Limit
- SHLA SSI Sensor Action at Max
- SHOME SSI Sensor Home Count
- SLL SSI Sensor Min Limit
- SLLA SSI Sensor Action at Min
- SMOD SSI Sensor Usage
- TNM Motor Torque Constant
- UVL Undervoltage Limit
- Brushless Specific Commands
- BADJ Brushless Angle Zero Adjust
- BADV Brushless timing angle adjust
- BECC – BEMF Coupling Constant
- BFBK Brushless Sinusoidal Angle Sensor
- BHL Brushless Internal Sensor Max Limit
- BHLA Brushless Internal Sensor Action at Max
- BHOME Brushless Internal Sensor Home Count
- BLL Brushless Internal Sensor Min Limit
- BLLA Brushless Internal Sensor Action at Min
- BMOD Brushless Switching Mode
- BPOL Number of Pole Pairs
- BZPW Brushless Reference Seek Power
- HPO Hall Sensor Position Type
- HSAT Hall Sensor Angle Table
- HSM Hall Sensor Map
- KIF Current PID Integral Gain
- KPF Current PID Proportional Gain
- LD Motor d-axis Inductance
- LQ Motor q-axis Inductance
- PSA Phase Shift Angle
- RS Motor Stator Resistance
- SPOL SinCos/SSI Sensor Poles
- SSF – Sensorless Start-Up Frequency
- SVT – BEMF Integrator Limit
- SWD Swap Windings
- TID FOC Target Id
- VK Motor Voltage constant
- ZSMA Cos Amplitude
- ZSMC SinCos Calibration
- AC Induction Specific Commands
- BFBK AC Induction Operating Mode
- ILM Mutual Inductance
- ILLR Rotor Leakage Inductance
- IRR Rotor Resistance
- MPW Minimum Power
- MXS Optimal Slip Frequency
- RFC Rotor Flux Current
- VPH AC Induction Volts per Hertz
- CAN Communication Commands
- CAS CANOpen Auto start
- CBR CAN Bit Rate
- CEN CAN Mode
- CHB CAN Heartbeat
- CHLA CAN Consumer Heartbeat Lost Action
- CLSN CAN Listen Node ID
- CNOD CAN Node ID
- CSRT MiniCAN SendRate
- CTPS CANOpen TPDO SendRate
- CTT – CANOpen Transmission Type
- FSA – DS402 PDS Finite State Automation Enable
- DHCP Enable DHCP
- GWA Gateway Address
- IPA IP Address
- IPP IP Port
- PDNS Primary DNS
- SBM Subnet Mask
- SDNS Primary DNS
- WMOD TCP Mode
Motion Control Modes Overview
Advanced Digital Motor Controller User Manual 95
To
rque Command PWM
Motor
Current
Sensor
Current Feedback
-
PID
A
FIGURE 7-10. Closed Loop Torque mode
Motion Control Modes Overview
In the figure 7-11, the block diagram of the whole motion control modes architecture
supported in RoboteQ controllers. The motion control mechanism utilizes a cascaded PID
control technique for position, speed and current control modes. More details for each
control mode operation and tuning are included in separate chapters at sections 10-13,
respectively.
Note: The dashed lines at the output of position and speed controllers illustrate the alter-
native operating scheme of each mode in case the speed or FOC torque gains respective-
ly are equal to zero.
FIGURE 7-11. Close loop operating modes diagram