RoboteQ AX3500 User manual

Dual Channel
Forward/Reverse
Digital Robot Controller
with Optical Encoder Inputs
for Computer Guided and
Remote Controlled Robotic Vehicles
AX3500
Key Features Benefits
Dual MCU digital
design
Accurate, reliable, and fully programma-
ble operation. Advanced algorithms
R/C mode support Connects directly to simple, low cost R/
C radios
RS232 Serial mode
support
Connects directly to computers for
autonomous operation or to wireless
modem for two-way remote control
Analog mode support Connects directly to analog joystick
Optical encoder inputs Stable speed regardless of load. Accu-
rate measurement of travelled distance
Built-in power drivers
for two motors
Supports all common robot drive meth-
ods
60A output per channel Gives robot strongest lifting or pushing
power
Programmable current
limitation
Protects controller, motors, wiring and
battery.
Open loop or closed
loop speed control
Low cost or higher accuracy speed con-
trol
Closed loop position
control
Create low cost, ultra-high torque
jumbo servos
Data Logging Output Capture operating parameters in PC or
PDA for analysis
Built-in DC/DC con-
verter
Operates from a single 12V-40V battery
Field upgradable soft-
ware
Never obsolete. Add features via the
internet
Roboteq’s AX3500 controller is a product family designed
to convert commands received from a R/C radio, Analog
Joystick, wireless modem, or microcomputer into high volt-
age and high current output for driving one or two DC
motors. Designed for maximal ease-of-use in OEM applica-
tions, it is delivered with all necessary cables and hardware
and is ready to use in minutes.
The controller's two channels can either be operated inde-
pendently or mixed to set the direction and rotation of a
vehicle by coordinating the motion on each side of the vehi-
cle. The motors may be operated in open or closed loop
speed mode. Using low-cost position sensors, they may
also be set to operate as heavy-duty position servos.
The AX3500 may be ordered in one of many assembly
options, depending whether optical encoder input is
needed and depending on the application’s power, number
of channels, and thermal requirements.
The AX2550 can be reprogrammed in the field with the lat-
est features by downloading new operating software from
Roboteq’s web site. Numerous safety features are incorpo-
rated into the controller to ensure reliable and safe opera-
tion in the most demanding mobile robotic vehicle
applications.
Applications
•Terrestrial and Underwater Robotic Vehicles
•Automatic Guided Vehicles
•Police and Military Robots
•Hazardous Material Handling Robots
•Telepresence Systems
•Animatronics
•Industrial Controls
2 x 60 SmartAmps

Model Description
AX3500 Dual Channel 60 SmartAmps DC Motor Controller with Optical encoder input
Microcomputer-based Digital Design
•Multiple operating modes
•Fully programmable using either built-in
switches and 7 segment LED display or
through connection to a PC
•Non-volatile storage of user configurable
settings. No jumpers needed
•Simple operation
•Software upgradable with new features
Multiple Command Modes
•Serial port (RS-232) input
•Radio-Control Pulse-Width input
•0-5V Analog Voltage input
Multiple Motor Control modes
•Independent channel operation
•Mixed control (sum and difference) for
tank-like steering
•Open Loop or Closed Loop Speed mode
•Position control mode for building high
power position servos
•Modes can be set independently for each
channel
Optical Encoder Inputs
•Two Quadrature Optical Encoders inputs
•250kHz max. frequency per channel
•32-bit up-down counters
•Inputs may be shared with four optional
limit switches
Automatic Command Corrections
•Joystick min, max and center calibration
•Selectable deadband width
•Selectable exponentiation factors for each
joystick
•3rd R/C channel input for accessory output
activation
Special Function Inputs/Outputs
•2 Analog inputs. Used as
•Tachometer inputs for closed loop
speed control
•Potentiometer input for position (servo
mode)
•External temperature sensor inputs
•User defined purpose (RS232 mode
only)
•One Switch input configurable as
•Emergency stop command
•Reversing commands when running
vehicle inverted
•Up to 2 general purpose outputs for acces-
sories or weapon
•One 24V, 2A output
•One low-level digital output
•Up to 2 digital input signals
•8 RC pulses outputs for connection to
additional Roboteq slave controllers or RC
servos
Built-in Sensors
•Voltage sensor for monitoring the main 12
to 40V battery
•Voltage monitoring of internal 12V
•Temperature sensors near each Power
Transistor bridge
Advanced Data Logging Capabilities
•12 internal parameters, including battery
voltage, captured R/C command, tempera-
ture and Amps accessible via RS232 port
•Data may be logged in a PC or microcom-
puter
•Data Logging Software supplied for PC
Low Power Consumption
•On board DC/DC converter for single 12 to
40V battery system operation
•Optional 12V backup power input for pow-
ering safely the controller if the main
motor batteries are discharged
•200mA at 12V or 100mA at 24V idle cur-
rent consumption
•Power Control wire for turning On or Off
the controller from external microcom-
puter or switch
•No consumption by output stage when
motors stopped
•Regulated 5V output for powering R/C
radio. Eliminates the need for separate R/C
battery.
High Efficiency Motor Power Outputs
•Two independent power output stages
•Dual H bridge for full forward/reverse oper-
ation
•Ultra-efficient 2.5 mOhm ON resistance
MOSFETs
•Four quadrant operation. Supports regen-
eration
•12 to 40 V operation
•User programmable current limit up to 60A
depending on heatsink arrangement
•Single channel, 120A optional configura-
tion
•Standard Fast-on connectors for power
supply and motors
•16 kHz Pulse Width Modulation (PWM)
output
•Aluminum heat sink. Optional conduction
cooling plate
Advanced Safety Features
•Safe power on mode
•Optical isolation on R/C control inputs
•Automatic Power stage off in case of elec-
trically or software induced program failure
•Overvoltage and Undervoltage protection
•Watchdog for automatic motor shutdown
in case of command loss (R/C and RS232
modes)
•Large and bright run/failure diagnostics on
7 segment LED display
•Programmable motors acceleration
•Built-in controller overheat sensors
•“Dead-man”switch input
•Emergency Stop input signal and button
Compact Design
•All-in-one, single board design
•Efficient heat sinking. Operates without a
fan in most applications.
•6.75”(171.5mm) L, 4.2”W (107mm),
1. 2 5 ”(32mm) H
•-20o to +75o C operating environment
•7.5oz (220g)
Technical Features
Ordering Information
www.roboteq.com
8180 E.Del Plomo Dr.
Scottsdale, AZ 85258 - USA
602-617-3931