RoboteQ AX2550/2850 user manual Connecting Switches or Devices to EStop/Invert Input

Connecting Sensors and Actuators to Input/Outputs

be activated by a simple switch connected to +5V and no external resistor, as show in the Figure.

+5V Out 14

		AX2500 Internal
		Buffer equivalent
+5V In 7
		Circuit
Input F 4	10kOhm
GND In 6		Opto

GND Out 5

FIGURE 26. Switch wiring to Input F

The status of Input F can be read in the RS232 mode with the ?i command string. The con- troller will respond with three sets of 2 digit numbers. The status of Input F is contained in the second set of numbers and may be 00 to indicate an Off state, or 01 to indicate an On state.

Connecting Switches or Devices to EStop/Invert Input

This input is used to connect various switches or devices depending on the selected con- troller configuration.

The factory default for this input is “No Action”.

This input can also be configured to be used with an optional “inverted” sensor switch. When activated, this will cause the controls to be inverted so that the robot may be driven upside-down.

When neither Emergency Stop or Inverted modes are selected, this input becomes a gen- eral purpose input like the other two described above.

This input is a high impedance input with a pull-up resistor built into the controller. There- fore it will report an On state (no emergency stop, or not inverted) if unconnected. A sim- ple switch as shown on Figure 27 is necessary to activate it. Note that to trigger an Emergency Stop, or to detect robot inversion this input must be pulled to ground.

Figure 27 show how to wire the switch to this input.

56 AX2500/2850 Motor Controller User’s Manual Version 1.7. February 1, 2005