Serial (RS-232) Controls and Operation

exercising the controller manually, you may use the Decimal to Hexadecimal conversion table on page 103.

Query Amps Consumed by Motors

Description:

This query will cause the controller to return the actual number of Amps being consumed by each motor. The number is an unsigned Hexadecimal number ranging from 0 to 256 (0 to FF in Hexadecimal).

Syntax:

?a or ?A

Reply:nn mm

Where:nn = motor 1 Amps

mm= motor 2 Amps

Notes:

The Amps measurement has a 10% (worse case) precision. Its main purpose is to provide feedback to the controller’s current limitation circuitry.

The hexadecimal format is intended to be deciphered by a microcontroller. When exercis- ing the controller manually, you may use the Decimal to Hexadecimal conversion table on page 103.

Query Analog Inputs

Description:

This query will cause the controller to return the values of the signals present at its two analog inputs. If the controller is used in close-loop speed mode with analog feedback, the values represent the actual speed measured by the tachometer. When used in position mode, the values represent the actual motor position measured by a potentiometer. In all other modes, the values represent the measured voltage (0 to 5V) applied to the analog inputs. The values are signed Hexadecimal numbers ranging from -127 to +127. The -127 value represents 0V at the input, the 0 value represents 2.5V, and the +127 value repre- sents +5V.

Syntax:

?p or ?P

Reply:nn mm

Where:nn = analog input 1 value, speed or position

mm= analog input 2 value, speed or position

Notes:

The command returns a signed hexadecimal number where 0 to +127 is represented by 00 to 7F, and -1 to -127 is represented by FF to 80 respectively. The hexadecimal format is intended to be deciphered by a microcontroller. When exercising the controller manually, you may use the Decimal to Hexadecimal conversion table on page 103.

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AX2500/2850 Motor Controller User’s Manual

Version 1.7. February 1, 2005

Page 94
Image 94
RoboteQ AX2550/2850 user manual Query Amps Consumed by Motors, Query Analog Inputs