Rs-232 watchdog, Controller commands and queries – RoboteQ Dual Channel Digital Motor Controller AX2550 User Manual

Page 128

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Serial (RS-232) Controls and Operation

128

AX1500 Motor Controller User’s Manual

Version 1.9b. June 1, 2007

RS-232 Watchdog

For applications demanding the highest operating safety, the controller may be configured
to automatically stop the motors (but otherwise remain fully active) if it fails to receive a
character on its RS232 port for more than 1 seconds.

The controller will also send a “W” character every second to indicate to the microcom-
puter that such a time-out condition has occurred.

The character does not need to be a specific command, but any ASCII code, including invis-
ible ones.

The RS232 watchdog is enabled or disabled depending on the value of the “Input Com-
mand Mode” parameter.

The RS232 watchdog is automatically enabled when entering the RS232 mode from the
RC or from the Analog modes (see “Entering RS232 from R/C or Analog mode” on
page 126)

Controller Commands and Queries

AX1500 commands and queries are composed of a series of 2 or 4 characters followed by
the “enter” (carriage return) code.

The controller will send back (echo) every character it is receiving. By checking that the
returned character is the same as the one sent, it is possible to verify that there has been
no error in communication.

After a command has been received and properly executed, the controller will send the
“+” character.

If a command has been received with errors or bad parameters, the controller will send the
“-” character.

The table below lists the AX1500 RS232 commands and queries

TABLE 21. Controller’s basic Commands and Queries

Command

Type

Description

%rrrrrr

Command

Reset Controller

!Ann

Command

Channel 1, forward command to value nn

!ann

Command

Channel 1, reverse command to value nn

!Bnn

Command

Channel 2, forward command to value nn

!bnn

Command

Channel 2, reverse command to value nn

!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

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