RoboteQ AX2850 - Manual (Page 137)

AX2550 Motor Controller User’s Manual 137
Commands Acknowledge and Error Messages
RS232 Mode if default
If the controller is configured in RS232 mode, it will automatically be in the RS232 mode
upon reset or power up.
In this case, the “OK” message is sent automatically, indicating that the controller is ready
to accept commands through its serial port.
Commands Acknowledge and Error Messages
The AX2550 will output characters in various situations to report acknowledgements or
error conditions as listed below.
Character Echo
At the most fundamental level, the AX2550 will echo back to the PC or Microcontroller
every valid character it has received. If no echo is received, one of the following is occur-
ring:
•
the controller is not in the RS232 mode
•
the controller is Off
•
the controller may be defective
Command Acknowledgement
The AX2550 will acknowledge commands in one of two ways:
For commands that cause a reply, such as a speed or amps queries, the reply to the query
must be considered as the command acknowledgement.
For commands where no reply is expected, such as speed setting, the controller will issue
a “plus” character (+) after every command as an acknowledgment.
Command Error
If a command or query has been received with errors or is wrong, the control will issue a
“minus” character (-) to indicate the error.
If the controller issues the “-” character, it should be assumed that the command was lost
and that it should be repeated.
Watchdog time-out
If the RS232 watchdog is enabled, the controller will stop the motors and issue a “W”
character if it has not received a valid character from the PC or microcontroller within the
past 1 seconds.