Table of Contents
Motorcontrollers
Configuration on the Armadillo Scout
<note important>This is the configuration that we wish to implement</note>
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 Limiting | By automatic power output reduction above user preset level, per channel. | |
| Synchronous Rectification | Yes - Allows regenerative braking. | |
| Temperature protection | Automated current limit reduction starting at 70o C (175o F) heat sink temperature. | |
| Voltage protection | Output 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 Corrections | Programmable deadband. 6 Exponent & Logarithmic command curves. | |
| Input/Outputs | ||
| Optical Encoder Interface | Not available | |
| Hall Sensor Inputs | 3 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:
- Retrieve the Strip.ocx file from (this link) . Unzip and save it in the install directory of Robotec - C:\Program Files (x86)\Roboteq\Roborun\strip.ocx
- 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.
- Once the command prompt open, type the following: %systemroot%\System32\regsvr32.exe “C:\Program Files (x86)\Roboteq\Roborun\strip.ocx”
- Launch Roborun normally.