RoboteQ user manual Data Logging in Analog Mode, AX3500 Motor Controller User’s Manual

Data Logging in Analog Mode

•Internal Heat Sink temperatures 1 and 2

•Main Battery voltage

•Internal 12V voltage

•Encoder Speed or Position

The entire string is repeated every 213 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 an analog command, the cable must be modified to add an RS232 output wire and connector that will be connected to the PC’s communication port. Figure 89 below shows the wiring diagram of the modified cable for connection to a PC or to a PDA, respectively.

DB9 Female	DB15 Male
To PC	To Controller
1		1
6	9	2	RS232 Data Out
RX Data 2
7	10	3	Ana Ch2
3
			Ana Ch1
8	11	4
4
9	12	5	GND
GND 5
	13	6
	14	7	+5V

15 8

FIGURE 89. Modified Analog cable with RS232 output data logging for PC

DB9 Male

To PDA

1

RX Data 6

2

7

3

8

4

DB15 Male

To AX2500

	1
9	2	RS232 Data Out
10	3	Ana Ch2
11	4	Ana Ch1

9	12	5	GND
GND 5
	13	6
	14	7	+5V

15 8

FIGURE 90. Modified Analog cable with RS232 output data logging for PDA

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