RoboteQ AX3500 user manual Data Logging in R/C Mode, Important Notice, R/C Operation

R/C Operation

Notes:

If you attempt to calibrate the joysticks while the radio is off or not connected to the con- troller, the calibration data will not change and the previously stored information will con- tinue to be used.

If calibration is performed with only one R/C channel connected to the controller, then only the joystick that is active will be calibrated. The other channel will keep its original settings.

A minimum amount of travel is required between the min, max and center joystick posi- tions. If, while calibrating, the joystick has not been moved far enough from either side of the center position, the controller will automatically include a minimum of travel to ensure proper and safe operation. In most cases, this creates no undesired effect to the driving characteristics of the robot.

R/C calibration only applies to the channel 1 and channel 2 inputs. The accessory activation channel (channel 3) is preset at the factory and cannot be changed.

Important Notice

To ensure that only stable pulses are present, the R/C transmitter and radio must be

On before entering joystick calibration.

Note: Channel 3 is not available on the controllers equipped with encoder inputs.

Data Logging in R/C Mode

While in R/C Mode, the AX3500 will continuously send a string of characters on the RS232 output line. This string will contain 12 two-digit hexadecimal numbers representing the fol- lowing operating parameters.

•Captured R/C Command 1 and 2

•Power Applied to Controller’s output stage

•Values applied to Analog inputs 1 and 2

•Amps on channel 1 and 2

•Internal Heat Sink temperatures 1 and 2

•Main Battery voltage

•Internal 12V voltage

•Encoder Speed or Position feedback.

The entire string is repeated every 200 milliseconds with the latest internal parameter val- ues. This information can be logged using the Roborun Utility (see “Viewing and Logging Data in Analog and R/C Modes” on page 197). It may also be stored in a PDA that can be placed in the mobile robot.

The string and data format is described in “Analog and R/C Modes Data Logging String For- mat” on page 170. The serial port’s output can be safely ignored if it is not required in the application.

To read the output string while operating the controller with the R/C radio, you must mod- ify the R/C cable to add an RS232 output wire and connector that will be connected to the

124 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007