Roboteq Dual Channel Digital Motor Controller AX500 Uživatelský manuál stáhnout pdf (Strana 108)

Serial (RS-232) Controls and Operation

108 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Set Motor Command Value

Description:

Send a speed of position value from 0 to 127 in the forward or reverse direction for a given

channel. In mixed mode, channel 1 value sets the common forward and reverse value for

both motors, while channel 2 sets the difference between motor 1 and motor 2 as required

for steering. In all other modes, channel 1 commands motor 1 and channel 2 commands

motor 2.

Syntax: !Mnn

Where M=A: channel 1, forward direction

a: channel 1, reverse direction

B: channel 2, forward direction

b: channel 2, reverse direction

Where nn= Speed or position value in 2 Hexadecimal digits from 00 to 7F

Examples:

!A00 channel 1 to 0

!B7F channel 2, 100% forward

!a3F channel 1, 50% reverse

Notes:

The hexadecimal number must always contain two digits. For example, !a5 will not be

recognized and the controller will respond with a “-” to indicate an error. The proper com-

mand in this case should be !a05.

Set Accessory Output

Description:

Turn on or off the digital output line on the 15-pin connector. See “AX500’s Inputs and Out-

puts” on page 48 for details on how to identify and wire these signals.

Syntax: !M

Where: M=

c: output C off

C: output C onExamples:

!C Command Turn Accessory Output C n

!c Command Turn Accessory Output C Off

?a or ?A Query Read Battery Amps

?v or ?V Query Read Power Level applied to motors

?p or ?P Query Read Analog Inputs 1 and 2

?r or ?R Query Read Analog Inputs 3 and 4

?m or ?M Query Read Heatsink Temperature

?e or ?E Query Read Battery and Internal Voltage

?i or ?I Query Read Digital Inputs

TABLE 17. Controller’s basic Commands and Queries

Command Type Description

1 2 ... 103 104 105 106 107 108 109 110 111 112 113 ... 153 154

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Roboteq Dual Channel Digital Motor Controller AX500 Uživatelský manuál Strana 108