BASICMICRO Roboclaw 2x120A Скачать руководство пользователя страница 65

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RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

Commands 8 - 13 Mixed Mode Compatibility Commands

The following commands are mix mode commands used to control speed and turn for differential

steering. Before a command is executed, both valid drive and turn data packets are required

Once RoboClaw begins to operate the motors turn and speed can be updated independently.

8 - Drive Forward

Drive forward in mix mode. Valid data range is 0 - 127. A value of 0 = full stop and 127 = full

forward.

Send: [Address, 8, Value, CRC(2 bytes)]

Receive: [0xFF]

9 - Drive Backwards

Drive backwards in mix mode. Valid data range is 0 - 127. A value of 0 = full stop and 127 = full

reverse.

Send: [Address, 9, Value, CRC(2 bytes)]

Receive: [0xFF]

10 - Turn right

Turn right in mix mode. Valid data range is 0 - 127. A value of 0 = stop turn and 127 = full

speed turn.

Send: [Address, 10, Value, CRC(2 bytes)]

Receive: [0xFF]

11 - Turn left

Turn left in mix mode. Valid data range is 0 - 127. A value of 0 = stop turn and 127 = full speed

turn.

Send: [Address, 11, Value, CRC(2 bytes)]

Receive: [0xFF]

12 - Drive Forward or Backward (7 Bit)

Drive forward or backwards. Valid data range is 0 - 127. A value of 0 = full backward, 64 = stop

and 127 = full forward.

Send: [Address, 12, Value, CRC(2 bytes)]

Receive: [0xFF]

13 - Turn Left or Right (7 Bit)

Turn left or right. Valid data range is 0 - 127. A value of 0 = full left, 0 = stop turn and 127 = full

right.

Send: [Address, 13, Value, CRC(2 bytes)]

Receive: [0xFF]

Содержание Roboclaw 2x120A

Страница 1: ...Claw 2x15A RoboClaw 2x30A RoboClaw 2x45A RoboClaw 2x45A ST RoboClaw 2x60A Roboclaw 2x60HV Roboclaw 2x120A Roboclaw 2x160A Roboclaw 2x200A User Manual Firmware 4 1 34 and Newer Hardware V3 V4 V5 V6 and...

Страница 2: ...and to the Basicmicro s knowledge there is no basis for any present or future action against the company giving rise to any liability arising out of any injury to individuals or property as a result...

Страница 3: ...Inputs 13 Encoder Inputs 13 Logic Battery LB IN 13 BEC Source LB MB 13 Encoder Power 14 Main Battery Screw Terminals 14 Main Battery Disconnect 14 Motor Screw Terminals 14 Easy to use Libraries 14 Mot...

Страница 4: ...Automatic Battery Detection on Startup 39 Manual Voltage Settings 39 Wiring 40 Basic Wiring 40 Safety Wiring 41 Encoder Wiring 41 Logic Battery Wiring 42 Logic Battery Jumper 42 Status LEDs 43 Status...

Страница 5: ...Serial Mode 58 Address 58 Packet Modes 58 Packet Serial Baud Rate 58 Serial Mode Options 58 Packet Timeout 59 Packet Acknowledgement 59 CRC16 Checksum Calculation 59 CRC16 Checksum Calculation for Re...

Страница 6: ...and for RC Analog controls 71 77 Read DeadBand for RC Analog controls 72 80 Restore Defaults 72 81 Read Default Duty Acceleration Settings 72 82 Read Temperature 72 83 Read Temperature 2 72 90 Read St...

Страница 7: ...peeds Counters 88 108 Read Motor Average Speeds 89 111 Read Speed Errors 89 114 Read Position Errors 89 Advanced Motor Control 90 Advanced Motor Control Commands 90 28 Set Velocity PID Constants M1 91...

Страница 8: ...et Motor 2 Position PID Constants 99 63 Read Motor 1 Position PID Constants 99 64 Read Motor 2 Position PID Constants 99 65 Buffered Drive M1 with signed Speed Accel Deccel and Position 99 66 Buffered...

Страница 9: ...oper way to shut down a motor controller Any connected I O to RoboClaw will create a ground loop and cause damage to RoboClaw and attached devices Always disconnect the positive power lead first Brush...

Страница 10: ...taken to avoid run away conditions The wheels of a robot should not be in contact with any surface until all development is complete If the motor is embedded ensure you have a safe and easy method to...

Страница 11: ...unpredictable behavior Encoders RoboClaw features dual channel quadrature absolute decoding When wiring encoders make sure the direction of spin is correct to the motor direction Incorrect encoder con...

Страница 12: ...n Studio is the preferred method of configuration with additional options not available using the on board buttons However these additional options are not critical to RoboClaw s basic operation This...

Страница 13: ...ave their own supply and will conflict with the RoboClaw s 5v logic supply It may be necessary to remove the 5V pin from the RC receivers cable in those cases Encoder Inputs EN1 and EN2 are the inputs...

Страница 14: ...the battery This will vary depending on the type of motors and or power source you are using A typically solution would be an inexpensive contactor which can be sourced from sites like Ebay A power d...

Страница 15: ...nning Motion Studio From this screen you can select a detected RoboClaw and connect 1 More than one RoboClaw can be connected at a time Box 1 is where the desired RoboClaw is selected After the RoboCl...

Страница 16: ...heck box to activate the Stop All function by using the space bar on the keyboard This is a safety feature and is the quickest method to stop all motor movements when using Motion Studio Device Status...

Страница 17: ...HI Main battery over voltage MBLO Main battery under voltage LBHI Logic battery over voltage LBLO Logic battery under voltage TMP1 Temperature 1 TMP2 Optional temperature 2 on some RoboClaw models M1D...

Страница 18: ...r the selected mode Settings are only stored in RAM until the user writes the settings to the RoboClaw s non volatile memory Select Write Settings under Device in the menu bar Label Function Descripti...

Страница 19: ...Sliders are provided to control each motor channel This screen can also be used to determine the QPPS of attached encoders 1 Graph Function Description Grid Displays channel data with 100mS update rat...

Страница 20: ...Description Scale Sets vertical scale to fit the range of the specified Channel Channels Select data to display on the channel The channel is graphed in the color shown Channel options M1 or M2 Setpoi...

Страница 21: ...ph Function Description Grid Displays channel data with 100mS update rate and one second horizontal divisions 2 Velocity Settings Function Description Velocity P Proportional setting for PID Velocity...

Страница 22: ...2 Start motor 2 velocity auto tune Level Adjust auto tune 2 values agressiveness Sllide left for softer control 4 Graph Channels Function Description Scale Sets vertical scale to fit the range of the...

Страница 23: ...O Position Settings The Position settings screen is used to set the encoder and PID settings for position control The screen is also used for testing and plotting 1 Graph Function Description Grid Dis...

Страница 24: ...Main Battery Voltage Logic Battery Voltage Clear Clears channels graphed line 3 Position Settings Function Description Velocity P Proportional setting for velocity PID Velocity I Integral setting for...

Страница 25: ...el Acceleration rate used when moving the sliders Deccel Decceleration rate used when moving the sliders Speed Speed to use with slide move Position Numeric value of slider motor position Autotune Met...

Страница 26: ...o application 2 Apply a reliable power source such as a fully charge battery to power the motor controller 3 Connect the powered motor controller to a USB port on your computer with Motion Studio alre...

Страница 27: ...e update button 3 to start the process 2 Motion Studio will begin to update the firmware While the firmware update is in progress the onboard LEDs will begin to flash The onboard flash memory will fir...

Страница 28: ...d Very similar to how a regular servo is controlled RC mode can use encoders if properly setup See Encoder section Analog Analog mode uses an analog signal from 0V to 2V to control the speed and direc...

Страница 29: ...ify installation If the USB driver is not found Ion Studio will install it 1 Open the Motion Studio application 2 Apply a reliable power source such as a fully charged battery to power up RoboClaw 3 C...

Страница 30: ...r Controllers RoboClaw Series User Manual 30 BASICMICRO Control Mode Setup Select the Control Mode drop down 1 There are 4 main modes See the Control Modes section of this manual for a detailed explan...

Страница 31: ...l settings screen is used to configure RoboClaw Each control mode will have several configuration options Grayed out options are not available for the selected mode Once all settings are configured th...

Страница 32: ...nit Sets S2 pin to open drain Allows multiple Roboclaws to be controlled from a single serial port USB TTL Relay Enables RoboClaw to pass data from USB through S1 RX and S2 TX Allows several RoboClaws...

Страница 33: ...s Range is 1V 4 RC Analog Options Configure RC and Ananlog control options Set control type in RC and Analog modes Function Description Mixing Mixes S1 and S2 inputs for control of a differentially st...

Страница 34: ...amp rate of acceleration for motor channel 1 A value of 1 to 655 360 can be used Value of 0 sets the internal default for Accel and Deccel Value of 655 360 equals 100mS full forward to reverse ramping...

Страница 35: ...ault function for S5 S4 S5 Duty Sets the auto homing duty percentage When velocity or postion control is configured duty sets the speed percentage S4 S5 Timeout Sets the auto homing timeout in seconds...

Страница 36: ...Controls a robot like a tank S1 controls motor 1 forward or reverse and S2 controls motor 2 forward or reverse 2 R C mode with mixing Same as Mode 1 with mixing enabled Channels are mixed for differe...

Страница 37: ...peed 3 TTL Flip and MCU Enabled Disables auto calibrate Allows slow MCU to send R C pulses at lower than normal R C rates 4 TTL Flip and Exp and MCU Enabled Option 2 and 3 combined 5 RC Flip Switch R...

Страница 38: ...ase the LIPO button The STAT2 LED will begin to blink out the current setting 2 Press SET to increment to the next setting Press MODE to decrement to the previous setting 3 Once the desired setting is...

Страница 39: ...ted should be confirmed on power up Undercharged or overcharged batteries can cause an incorrect auto detection voltage Manual Voltage Settings The minimum and maximum voltage can be set using the Mot...

Страница 40: ...safety concerns are minimal Never underestimate a motorized system in an uncontrolled condition In addition RoboClaw is a regenerative motor controller If the motors are moved when the system is off i...

Страница 41: ...r a 60VDC motor controller which will give a pre charge time of about 15 seconds A lower resistances can be used with lower voltages to decrease the pre charge time Encoder Wiring A wide range of sens...

Страница 42: ...is supplied by the secondary logic battery if supplied The mAh of the logic battery should be determined based on the load of attached devices powered by the regulated 5V user output Logic Battery Jum...

Страница 43: ...The status 2 LED will light when either drive stage is active Message Types There are 3 types of messages RoboClaw can indicate The first type is a fault When a fault occurs both motor channel outputs...

Страница 44: ...limited Error LED blinking twice STAT1 or STAT2 indicates channel Driver Fault Fault Motors freewheel Damage detected Error LED blinking three times Logic Battery High Fault Motors freewheel until re...

Страница 45: ...controls direction of motor to reach switch Limit Forward Motor moves forward rotation until switch tripped Limit Reverse Motor moves in reverse rotation until switch tripped RS 485 Direction Output S...

Страница 46: ...o 5VDC or 3 3VDC should be used if wire lengths exceed 6 150mm The circuit below shows a NO normally open style switch Connect the NO to S4 or S5 and the COM end to a power ground shared with RoboClaw...

Страница 47: ...for larger motors 50 watts will likely cover most situation smaller wattage resistor may work Voltage Clamp Circuit Wire the circuit as shown below Q1 should be a 3V logic level MOSFET An example wou...

Страница 48: ...ltages Testing should consist of a running the motor up to 25 of its speed and then quickly slowing down without braking or e stop while checking the voltage spike Repeat by increasing the speed and p...

Страница 49: ...perating in bridged channel mode the total peak current output is combined from both channels The peak current run time is dependant on heat build up Adequate cooling must be maintained Bridged Channe...

Страница 50: ...ing commands to the RoboClaw both those commands and USB packet serial commands will execute USB Power The USB RoboClaw is self powered This means it receives no power from the USB cable The USB RoboC...

Страница 51: ...ch Flip switch triggered by low signal 2 TTL Flip and Exponential Enabled Softens the center control position This mode is ideal with tank style robots Making it easier to control from an RC radio Fli...

Страница 52: ...the receiver then RoboClaw It will take RoboClaw about 1 second to calibrate the neutral positions of the RC controller After RC pulses start to be received and calibration is complete the Stat1 LED...

Страница 53: ...per operation Once calibrated values have been set and saved into Roboclaws eeprom encoder support using velocity or position PID control can be enabled Use Ion Studio control software or PacketSerial...

Страница 54: ...hematic The POT acts as one half of the resistor divider If using a 5k potentiometer R1 R2 7 5k If using a 10k potentiometer R1 R2 15k and if using a 20k potentiometer R1 R2 30k Set mode 3 with option...

Страница 55: ...rrection It is recommended to use Packet Serial mode instead for more reliable communications Serial Mode Baud Rates Option Description 1 2400 2 9600 3 19200 4 38400 5 57600 6 115200 7 230400 8 460800...

Страница 56: ...m below shows the main battery as the only power source Make sure the LB jumper is set correctly The 5VDC shown connected is only required if your MCU needs a power source This is the BEC feature of R...

Страница 57: ...e connected to the same MCU transmit pin Each RoboClaw S2 pin should be connected to a unique I O pin on the MCU S2 is used as the control pin to activate the attached RoboClaw To enable a RoboClaw ho...

Страница 58: ...s selected by setting the desired packet mode using the MODE button NOTE When using packet serial commands via the USB connection the address byte can be any value from 0x80 to 0x87 since each USB con...

Страница 59: ...complex than a simple checksum but prevents errors that could otherwise cause unexpected actions to execute on the Roboclaw The CRC can be calculated using the following code example in C Calculates C...

Страница 60: ...t values numbers with decimal places are used in Packet Serial commands To convert a 32bit value into 4 bytes you just need to shift the bits around unsigned char byte3 MyLongValue 24 High byte unsign...

Страница 61: ...the baud rate is set at or below 38400 This will allow slower processors and processors without UARTs to communicate with RoboClaw The diagram below shows the main battery as the only power source Th...

Страница 62: ...e enabled and have a unique packet serial address set This can be configured using Motion Studio Wire the S1 and S2 pins directly to the MCU TX and RX pins Install a pull up resistor R1 on the MCU RX...

Страница 63: ...ve Forward M1 Drive motor 1 forward Valid data range is 0 127 A value of 127 full speed forward 64 about half speed forward and 0 full stop Send Address 0 Value CRC 2 bytes Receive 0xFF 1 Drive Backwa...

Страница 64: ...V 62 16V 82 and 24V 123 Send Address 3 Value CRC 2 bytes Receive 0xFF 4 Drive Forward M2 Drive motor 2 forward Valid data range is 0 127 A value of 127 full speed forward 64 about half speed forward a...

Страница 65: ...ix mode Valid data range is 0 127 A value of 0 full stop and 127 full reverse Send Address 9 Value CRC 2 bytes Receive 0xFF 10 Turn right Turn right in mix mode Valid data range is 0 127 A value of 0...

Страница 66: ...rmware Version 24 Read Main Battery Voltage 25 Read Logic Battery Voltage 26 Set Minimum Logic Voltage Level 27 Set Maximum Logic Voltage Level 48 Read Motor PWMs 49 Read Motor Currents 57 Set Main Ba...

Страница 67: ...6 Read Battery Voltage Offsets 117 Set Current Blanking Percentages 118 Read Current Blanking Percentages 133 Set M1 Maximum Current 134 Set M2 Maximum Current 135 Read M1 Maximum Current 136 Read M2...

Страница 68: ...d Address 25 Receive Value Byte1 Value Byte0 CRC 2 bytes 26 Set Minimum Logic Voltage Level Note This command is included for backwards compatibility We recommend you use command 58 instead Sets logic...

Страница 69: ...0 Send Address 57 Min 2 bytes Max 2bytes CRC 2 bytes Receive 0xFF 58 Set Logic Battery Voltages Set the Logic Battery Voltages cutoffs Min and Max Min and Max voltages are in 10th of a volt increments...

Страница 70: ...n position control is enabled This sets the percentage of the maximum speed set by QPSS as the default speed The range is 0 to 32767 Send Address 70 Value 2 bytes CRC 2 bytes Receive 0xFF 71 Set Motor...

Страница 71: ...h Mode Description Disabled pin is inactive Default Flip switch if in RC Analog mode or E Stop latching in Serial modes E Stop Latching causes the Roboclaw to shutdown until the unit is power cycled E...

Страница 72: ...s 80 Receive 0xFF 81 Read Default Duty Acceleration Settings Read M1 and M2 Duty Cycle Acceleration Settings Send Address 81 Receive M1Accel 4 bytes M2Accel 4 bytes CRC 2 bytes 82 Read Temperature Rea...

Страница 73: ...x000400 M2 Position Error 0x000800 M1 Current Error 0x001000 M2 Current Error 0x002000 M1 Over Current Warning 0x010000 M2 Over Current Warning 0x020000 Main Voltage High Warning 0x040000 Main Voltage...

Страница 74: ...eive 0xFF 93 Set Motor 2 Encoder Mode Set the Encoder Mode for motor 2 See command 91 Send Address 93 Mode CRC 2 bytes Receive 0xFF 94 Write Settings to EEPROM Writes all settings to non volatile memo...

Страница 75: ...l 0x0010 Battery Mode 5 Cell 0x0014 Battery Mode 6 Cell 0x0018 Battery Mode 7 Cell 0x001C Mixing 0x0020 Exponential 0x0040 MCU 0x0080 BaudRate 2400 0x0000 BaudRate 9600 0x0020 BaudRate 19200 0x0040 Ba...

Страница 76: ...ased when the overvoltage disipates Adding an external load dump resistor from the CTRL pin to B will allow the Roboclaw to disipate over voltage energy automatically up to the 3amp limit of the CTRL...

Страница 77: ...d is set in increments of 1 300 of a second As an example a timeout value of 10 seconds would be set as 3000 Send Address 105 Percentage 2 bytes Timeout 4 bytes CRC 2 bytes Receive 0xFF 106 Set Auto H...

Страница 78: ...correct for differences in voltage readings Range of values is 1V in 1V increments with a range of 10 to 10 Send Address 115 MainBatteryOffset LogicBatteryOffset CRC 2 bytes Receive 0xFF 116 Read Bat...

Страница 79: ...lue is in 10ma units To calculate divide value by 100 MinCurrent is always 0 Send Address 135 Receive MaxCurrent 4 bytes MinCurrent 4 bytes CRC 2 bytes 136 Read M2 Max Current Limit Read Motor 2 Maxim...

Страница 80: ...M Memory Location Read a 16 bit value from user EEPROM address Memory address range is 0 to 255 Read a 16 bit value from user EEPROM address Memory address range is 0 to 255 Send Address 253 Memory Ad...

Страница 81: ...wo quadrature encoders one for each motor channel The main header provides two 5VDC connections with dual A and B input signals for each encoder Quadrature encoders are directional In a simple two mot...

Страница 82: ...Claw to the potentiometer For a 5k pot R1 R2 7 5k for a 10k pot R1 R2 15k and for a 20k pot R1 R2 30k The diagram below shows the main battery as the only power source Make sure the LB jumper is insta...

Страница 83: ...s may be required for optimum performance Auto Tuning Motion Studio provides the option to auto tune velocity and position control To use the auto tune option make sure the encoder and motor are runni...

Страница 84: ...continue oscillating back and forth form too fast to too slow causing a vibration in the motor 5 Once P and I are set reasonably well usually you will leave D 0 D is only required if you are unable to...

Страница 85: ...ified position This is called hunting The I setting causes this when there is any slop in the motor encoder gear train You can compensate some for this by adding deadzone Deadzone is the area around t...

Страница 86: ...30 Read Current M1 Raw Speed 31 Read Current M2 Raw Speed 78 Read Encoders Counts 79 Read Raw Motor Speeds 108 Read Motor Average Speeds 111 Read Speed Errors 114 Read Position Errors 16 Read Encoder...

Страница 87: ...d After Reading Bit3 Reserved Bit4 Reserved Bit5 Reserved Bit6 Reserved Bit7 Reserved 18 Read Encoder Speed M1 Read M1 counter speed Returned value is in pulses per second RoboClaw keeps track of how...

Страница 88: ...ve Speed 4 bytes Status CRC 2 bytes The Status byte is direction 0 forward 1 backward 31 Read Raw Speed M2 Read the pulses counted in that last 300th of a second This is an unfiltered version of comma...

Страница 89: ...second for both encoder channels Send Address 108 Receive Speed1 4 bytes Speed2 4 bytes CRC 2 bytes 111 Read Speed Errors Read current calculated speed error in encoder counts per second Send Address...

Страница 90: ...With Signed Speed And Distance Buffered 44 Drive M1 With Signed Speed Acceleration and Distance Buffered 45 Drive M2 With Signed Speed Acceleration and Distance Buffered 46 Drive M1 M2 With Signed Sp...

Страница 91: ...xFF 29 Set Velocity PID Constants M2 Several motor and quadrature combinations can be used with RoboClaw In some cases the default PID values will need to be tuned for the systems being driven This gi...

Страница 92: ...ntax Send Address 33 Duty 2 Bytes CRC 2 bytes Receive 0xFF The duty value is signed and the range is 32768 to 32767 eg 100 duty 34 Drive M1 M2 With Signed Duty Cycle Drive both M1 and M2 using a duty...

Страница 93: ...ich direction the motor will turn This command is used to drive both motors by quad pulses per second Different quadrature encoders will have different rates at which they generate the incoming pulses...

Страница 94: ...ature encoders will have different rates at which they generate the incoming pulses The values used will differ from one encoder to another Once a value is sent the motor will begin to accelerate incr...

Страница 95: ...ed or executing command can be stopped when a new command is issued by setting the Buffer argument All values used are in quad pulses per second Send Address 43 SpeedM1 4 Bytes DistanceM1 4 Bytes Spee...

Страница 96: ...hich direction the motor will run The acceleration and distance values are not signed This command is used to control both motors top speed total distanced traveled and at what incremental acceleratio...

Страница 97: ...acceleration and distance values are not signed This command is used to control both motors top speed total distanced traveled and at what incremental acceleration value to use until the top speed is...

Страница 98: ...leration value for ramping The command syntax Send Address CMD DutyM1 2 bytes AccelM1 4 Bytes DutyM2 2 bytes AccelM1 4 bytes CRC 2 bytes Receive 0xFF The duty value is signed and the range is 32768 to...

Страница 99: ...stants Read the Position PID Settings Send Address 64 Receive P 4 bytes I 4 bytes D 4 bytes MaxI 4 byte Deadzone 4 byte MinPos 4 byte MaxPos 4 byte CRC 2 bytes 65 Buffered Drive M1 with signed Speed A...

Страница 100: ...sition Default accel decel and speeds are used Send Address 120 Position 4 bytes Buffer CRC 2 bytes Receive 0xFF 121 Buffered Drive M1 M2 with Position Move M1 and M2 from the current position to the...

Страница 101: ...tive holders Disclaimer Basicmicro cannot be held responsible for any incidental or consequential damages resulting from use of products manufactured or sold by Basicmicro or its distributors No produ...

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