RoboteQ AX2550 user manual Data Logging in R/C Mode, AX1500 Motor Controller User’s Manual

Data Logging in R/C Mode

Output C is a buffered output capable of driving a 2A device at up to 24V. Details on how to wire this output to user accessories can be found at “Connecting Sensors and Actuators to Input/Outputs” on page 51.

The output is activated by pushing the joystick to the maximum position. The output turns back off when the joystick is returned to the center position.

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

Data Logging in R/C Mode

Output C

OFF

Output C

OFF

Output C

ON

FIGURE 73. Using Channel 3 to activate accessory outputs

While in R/C Mode, the AX1500 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, if encoder module is present.

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 176). 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 156. The serial port’s output can be safely ignored if it is not required in the application.

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