RoboteQ AX2550/2850 user manual RS232 Commands Set, RS232 Mode if default, Set Motor Command Value

Serial (RS-232) Controls and Operation

This information can be safely ignored and the controller will still be able to switch to

RS232 mode upon receiving 10 continuous Carriage Returns as described above.

The format of the data logging string and it content is described in Figure , “Analog and R/C

Modes Data Logging String Format,” on page 102

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.

RS232 Commands Set

AX2500/2850 commands and queries are composed of a series of 2 or 4 characters fol- lowed 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.

A complete summary of the acknowledge and error messages sent by the controller can be found on page 97.

The following is a list of the AX2500/2850 RS232 commands and queries:

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

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