Table of Contents

Motorcontrollers

Configuration on the Armadillo Scout

<note important>This is the configuration that we wish to implement</note> FIXME Update this to the rtq commands and values

Closed Loop Speed mode
P-gain:
I-Gain:
D-gain:
max current 150A

Closed loop mode not working

We are trying to find a solution.

The first thing we are going to test is this http://www.roboteq.com/online-forum/controller-configuration-operation/blfb-does-nothing#29527153

Motorcontrollers

The motorcontrollers are two HBL-1650 Brushless DC motor controllers from RoboTeQ.

Here is an overview of the technology RoboteQ is using: RoboteQ Technology

Table with alignment VBL1650
Power Stage
Operating Voltage 10V to 50V DC
Number of Channels 1
Max Current 1min 150A
3 min 120A
1h 100A
Surge Current >250A
ON Resistance 3 mΩ
Current LimitingBy automatic power output reduction above user preset level, per channel.
Synchronous RectificationYes - Allows regenerative braking.
Temperature protection Automated current limit reduction starting at 70o C (175o F) heat sink temperature.
Voltage protectionOutput shut off below 9V and above 50V - user adjustable
Short Circuit protection Yes
Power Wiring AWG8 Cables
Command
R/C Inputs 1.0ms - 1.5ms center - 2ms, Adjustable
Serial Interface RS232. 115200 bauds
Analog Interface 1 inputs (0V - 2.5V center - 5V)
Input CorrectionsProgrammable deadband. 6 Exponent & Logarithmic command curves.
Input/Outputs
Optical Encoder Interface Not available
Hall Sensor Inputs3 phase inputs for motor switching, speed capture and odometry.
Analog Inputs Up to 4 inputs, 10-bit resolution.
Digital Outputs 2 outputs, 24V 1A max
Digital Inputs Up to 6 general purpose inputs.
Pulse Inputs Up to 5 Pulse Length, Duty Cycle or Frequency inputs.
5V Supply Output 100mA max for Radio or other devices.
Operating Modes
Open Loop Speed Forward & Reverse Speed Control. Separate or Mixed.
Closed Loop Speed Use Hall Sensors, analog or pulse speed feedback. PID.
Position Mode Use Hall Sensors, analog or pulse position feedback. PID.
MicroBasic Scritping
Max Program Size ~1500 lines of Basic-language code, 1000 user variables.
Execution Speed Higher than 50,000 lines per sec.
Physical
Operating Temperature -40 to +85oC heat sink temperature
Enclosure Aluminum extrusion
Cooling Heatsink
Controller size 5.5“ (140mm) wide x 1.6” (40mm) tall x 9“ (228mm) long including mounting brackets.
Cables 10” (25cm) RC cable to Radio
Weight 3.3lbs (1.5kg)

Software

Problems with Windows 7 64-bit

<note important>Try the program before runnung this fix!!!</note> http://www.roboteq.com/tech-support/windows-7-roborun-install-fix

The Strip.ocx file may fail to properly register when installing Roborun on a Windows 7 PC, typically on 64-bit versions of the OS.

To correct the problem follow these steps:

  1. Retrieve the Strip.ocx file from (this link) FIXME . Unzip and save it in the install directory of Robotec - C:\Program Files (x86)\Roboteq\Roborun\strip.ocx
  2. Right click on the command prompt icon in the start menu and select “Run as Administrator”. The command prompt is normally located in All Programs > Accessories. You will be prompted to approve the elevation.
  3. Once the command prompt open, type the following: %systemroot%\System32\regsvr32.exe “C:\Program Files (x86)\Roboteq\Roborun\strip.ocx”
  4. Launch Roborun normally.