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6 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
SECTION 5 General Operation 41
Basic Operation 41
Input Command Modes 41
Selecting the Motor Control Modes 42
Open Loop, Separate Speed Control 42
Open Loop, Mixed Speed Control 42
Closed Loop Speed Control 43
Close Loop Position Control 43
User Selected Current Limit Settings 44
Temperature-Based Current Limitation 44
Battery Current vs. Motor Current 45
Regeneration Current Limiting 46
Programmable Acceleration 47
Command Control Curves 48
Left / Right Tuning Adjustment 49
Activating Brake Release or Separate Motor Excitation 51
Emergency Shut Down Using Controller Switches 51
Emergency Stop using External Switch 51
Inverted Operation 52
Special Use of Accessory Digital Inputs 52
Using the Inputs to Activate the Buffered Output 52
Using the Inputs to turn Off/On the Power MOSFET
transistors 53
Self-Test Mode 53
SECTION 6 Connecting Sensors and Actuators to Input/Outputs 55
AX3500 Connections 55
AX3500’s Inputs and Outputs 56
I/O List and Pin Assignment 58
Connecting devices to Output C 59
Connecting Switches or Devices to Input F 60
Connecting Switches or Devices to EStop/Invert Input 61
Analog Inputs 62
Connecting Position Potentiometers to Analog Inputs 62
Connecting Tachometer to Analog Inputs 63
Connecting External Thermistor to Analog Inputs 65
Using the Analog Inputs to Monitor External Voltages 66
Connecting User Devices to Analog Inputs 67
Internal Voltage Monitoring Sensors 67
Internal Heatsink Temperature Sensors 67