Kangaroo x2 & Sabertooth Setup Guide

[telfel]

Kangaroo x 2 Position Control Module

The Kangaroo x2 is a recently introduced addition to the Dimension Engineering product
range to provide position control to the Sabertooth and Sysren range of DC brushed motor
controllers.

Kagaroo x2 Specifications
2 channel self tuning PID controller
Position or Speed Control
Potentiometer or Quadrature Encoder feedback
Support for limit switches or mechanical stops
Serial TTL input

Compatibility Dimension Engineering Brushed DC Motor Drivers
Sabertooth 2x10, 2x12, 2x25, 2x25V2, 2x50HV, and 2x60
Sysren 10, 25, 50

The Kangaroo once connected to a compatible motor controller provides a 1 or 2 channel
complete closed loop control system with the use of a feedback pot or encoder and limit
switches.

Basic setup
1 x Kangaroo x2
1 x Sabertooth 2 x (rating to suit your motors)
2 x Feedback pots 10k or Quadrature Encoders
4 x Limit Switches
1 x usb to ttl converter

If the Kagaroo is used with a Sabertooth 2x60, this will allow the position control of two DC
brushed motors at up to 30 vdc, and a constant current of 60 amps per channel, with a
surge current of up to 120 amps for a few seconds, the Sabertooth also has over current
protection to protect them from damage and a built in heatsink with fan.
The limit switches also provide protection from motor run aways and pot damage.

Connections and Dip switch settings



Sabertooth DIP switch settings
1,2 OFF, 3,4,5,6 ON
Note the DIP switch settings on the Sabertooth image above are wrong (reversed).

Kangaroo DIP switch settings using pot for feedback
1, ON Serial Input 2,OFF pot feedback 3,ON position control, 4,ON Ind mode

usb / ttl Connection to Kagaroo
Tx = S1
Rx = S2
+5 = +5
0v = 0v

Normally closed limit switches to L1 & L1
Second limit switch to L2 & L2

Switches are positioned at the ends of motor travel and mechanically operated by levers or cam mounted on the actuator

Feedback pot connected to 5v (red),and B (black), pot wiper (yellow) = A
the Pot is mechanically driven by the motor using levers, or pulleys.



Power and Motor Connections
Power in B- and B+, check polarity, before connecting power,

Motor out power leads connected to, motor 1 = M1A, M1B, motor 2 M2A, M2B.

also on the Sabertooth 2x60 check that the cables do not protrude through the terminal blocks
and short out on the heatsink. (stick insulating tape on the lower side of the heatsink)



As the Sabertooth’s main use is to for wheeled robots, the motors will drive in opposite
directions.

It is also advisable to use a car battery in parallel with your psu unit.

Example setup with limit switches and feedback pot mounted on the back of the motor
gearbox.



Feedback pot and limit switch cams need to be set to mid position ready for auto tuning
The Kagaroo is initially set up with the DEscribe software tool, which allows you to auto tune, change
the baud rate and address, if you are using more than one Kangaroo on the same port.

Part 2 to be continued
Setting up and autotune using the DEscribe software tool.

Connect to XSim Interface settings.

[telfel]

Hi

New Sabertooth 2x 32 with usb interface and updated DeScribe software tool.

see attached .pdf

Sabertooth2x32 (1).pdf

(3.54 MiB) Downloaded 968 times

regards Terry

[telfel]

Hi All

I have modified one of my motors to test



AMT 103 encoder kit,

DIP switch settings to set pulse rate, adapters to suit various shaft diameters, alignment tools included in the kit.

Best of all £15.00 + £ 3.00 for connector cable. Available from DigiKey

See attached manual.

regards Terry

[RacingMat]

Many Thanks Telfel for this guide! I'm really curious to try on my next setup

Part 2 to be continued
Setting up and autotune using the DEscribe software tool.

Connect to XSim Interface settings.

Please write the Part 2!

[telfel]

Setup and Auto Tune Kangaroo x2 using DeScribe Software Tool

Note The motor for tuning must be securely fixed and loaded, similar to the load applied in use.

Having connected the Kagaroo / Sabertooth as in previous tutorial you can leave the +5 volt to the Kangaroo disconnected, powered from the Sabertooth

Connect usb / ttl converter to PC and start DeScribe Software

The Start Screen will appear



Select Connect and Download settings



Select Detect





The Detect window will display connected devices (for auto tune only connect one Kagaroo at this time)
Highlight the device and press OK


The window will display the All Inputs Tab, with the Kangaroo x2 connected on COM(x) address (xxx)



The main window shows the initial settings for


Channel 1 Channel 2

There is no need at this time to change the settings.


Select the serial Tab



Tick the top two boxes, which allows multiple Kangaroo's to share the same comms line

The drop down lists

Packet Serial Address : will allow you to change the Kangaroo address 128 is default, and if your only using one Kagaroo
you can leave this at 128

Baud Rate : will allow you to change the baud rate 9600 is default

Sabertooth Address : do not change not used

Sabertooth Baud Rate : do not change not used

Serial Timeout : leave set at infinity

Channel Name 1 : you can rename this relevant to you rig. eg-: left or roll

Channel Name 2 : as above eg-: right or pitch

Drive Channel : for robots

Turn Channel : for robots

For New Address and Baud rate setting to take effect, you will need to reboot the Kangaroo,

Disconnect power and if needed the usb so all LED's are out.
Reconnect power, press the Connect and Download Setting Button, Detect, Highlight the Kagaroo with its new settings
The new setting will be displayed on the Serial Tab

Select the Control Tab

and then the Advanced button, these setting are set automatically when you Auto Tune

If you want the motor to hold position when stopped tick the box. (Then click upload setting, no need for a reboot)



Select the Positioning Tab



these setting will be automatically set during tuning of you can go back after Auto Tune and change for example the homing limit switch.

(In these screen shots you can see I am using a motor with a quadrature encoder and 2 limit swiches)


Select the Live Test Tab

Select the Tune button



Select Begin and Limit switches

Untick the Channel you are not going to tune. ( I only tune one channel at a time)

Press Continue



Title Bar will show about to tune



The title bar will show Detecting Feedback and the motor will oscillate


Title bar will show detecting limits and drive the motor until the limits operate


The motor will then be driven and oscillate in several different positions & at various speeds, the motor will return to the centre position
auto tune is complete


Close the window, disconnect the Kangaroo and after a few seconds reconnect, then click Connect and download settings.

Click position Tab, the feedback values are now set. ( In this screenshot I have used a pot, so the values are in millivolts)


Click Live Test Tab, then Channel 2 Live Position

Click OK to Start Kangaroo


The Range is now shown, Click OK


The window now shows the red position trace

The centre position value is also shown

Tick the show also box and select commands, Now move the vertical slider and the trace will show green for commands with the red position trace tracking.


Change the select box to speed, and you can see the motor speed vary depending how far you move the position away from the existing point


You can also click the 50% Step Button the motor will move a rapid step, then after 5 seconds return to its original position.

If when at rest the command and output trace oscillate you can go to the All Inputs Tab and increase the dead band setting (Click upload to device to save to the Kangaroo)

The Channel is now tuned, and you can repeat for the other channel.

[RacingMat]

Oh my God! That's a wonderful job! Thanks Telfel

[Liv2Die]

Have this setup with sab 2x25. I loooove this companies products just by Looking at them. lol. Very well built. although im having an issue getting the driver to work correctly. It says it is installed correctly when i install, but in device manager says that it fails to start the device.. screenshot link
http://prntscr.com/4locqc
Any ideas what im up against? Of course with any good company there has to be some downfall, i suppose DE's downfall is their lack of FAQ & Troubleshooting documentation :/