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F:\daten\office\qm\doks manuells\zzaag3 V2 controller.doc
zzaag3 V2 Controller
motor left
red blk
motor right
blk red
GND
+24V
1 2 3 4 5
PCB-Connector
Pin
Pin
Pin
Pin
Pin
1
2
3
4
5
black
brown
red
orange
yellow
SW
POTI
VCC
GND
GND
POTY – Potentiometer
SW
- Footswitch (opener)
Controller should be mounted upside down!
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F:\daten\office\qm\doks manuells\zzaag3 V2 controller.doc
ISP-Port
1
2
3
4
5
6
-
3
5
2
4
6
MISO
VC
RST
GND
MOSI
SCK
Error Blink-Codes
Interval
1x
2x
4x
5x
1
(green LED off, red flashing)
Meaning
low Batterie (<23 Volt)
ADXL-325 wrong Data
IDG-500 wrong Data
IDG-500 wrong Data
Batterie charging Information
green LED
on
on
on
red Led
off
red flashes
on
Meaning
Batt. 100%
Batt <50%
Batt.<20%
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F:\daten\office\qm\doks manuells\zzaag3 V2 controller.doc
Firmware zzaag3 V1
Steering Calibration
After Power on, the firmware measures the steering Poti and
store the value to rocker_zero. So held the handlebar straight
up whilst powering.
Gyro Calibration
After pushing the footswitch the zero-Angle is detected by the
adxl and stored to the adxl_zero var.
So held the platform horizontally whilst pushing the
footswitch.
Safety Concept
To avoid unmanned driving, the zzaag firmware turns off the
motors after a period of 1 sec. If the footswitch is not
pressed. This emergency stop is indicated by a sound that is
generated through the Motor PWM-Signal.
Speed Limit
If the speed limit is reached, the zzaag generates an
acceleration Pulse that pushes the driver a little bit back
and slow down the drive.