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6 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
SECTION 5 General Operation 35
Basic Operation 35
Input Command Modes 35
Selecting the Motor Control Modes 36
Open Loop, Separate Speed Control 36
Open Loop, Mixed Speed Control 36
Closed Loop Speed Control 37
Close Loop Position Control 37
User Selected Current Limit Settings 38
Temperature-Based Current Limitation 38
Battery Current vs. Motor Current 39
Programmable Acceleration 40
Command Control Curves 42
Left / Right Tuning Adjustment 43
Activating Brake Release or Separate Motor Excitation 45
Emergency Stop using External Switch 45
Inverted Operation 45
Special Use of Accessory Digital Inputs 46
Using the Inputs to Activate the Buffered Output 46
Using the Inputs to turn Off/On the Power MOSFET
transistors 46
SECTION 6 Connecting Sensors and Actuators to Input/Outputs 47
AX500 Connections 47
AX500’s Inputs and Outputs 48
I/O List and Pin Assignment 50
Connecting devices to Output C 51
Connecting Switches or Devices to Input E 52
Connecting Switches or Devices to Input F 52
Connecting Switches or Devices to EStop/Invert Input 53
Analog Inputs 54
Connecting Position Potentiometers to Analog Inputs 54
Connecting Tachometer to Analog Inputs 55
Connecting External Thermistor to Analog Inputs 57
Using the Analog Inputs to Monitor External Voltages 58
Connecting User Devices to Analog Inputs 59
Internal Voltage Monitoring Sensors 59
Internal Heatsink Temperature Sensors 59
SECTION 7 Closed Loop Position Mode 63
Mode Description 63
Selecting the Position Mode 63