RoboteQ AX3500 user manual RS-232 Watchdog, Controller Commands and Queries, Type, Description

Serial (RS-232) Controls and Operation

RS-232 Watchdog

For applications demanding the highest operating safety, the controller may be configured to automatically stop the motors (but otherwise remain fully active) if it fails to receive a character on its RS232 port for more than 1 seconds.

The controller will also send a “W” character every second to indicate to the microcom- puter that such a time-out condition has occurred.

The character does not need to be a specific command, but any ASCII code, including invis- ible ones.

The RS232 watchdog is enabled or disabled depending on the value of the “Input Com- mand Mode” parameter.

The RS232 watchdog is automatically enabled when entering the RS232 mode from the RC or from the Analog modes (see “Entering RS232 from R/C or Analog mode” on page 140)

Controller Commands and Queries

AX3500 commands and queries are composed of a series of 2 or 4 characters followed 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.

The table below lists the AX3500 RS232 commands and queries

TABLE 24. Controller’s basic Commands and Queries

Command	Type	Description
%rrrrrr	Command	Reset Controller
!Ann	Command	Channel 1, forward command to value nn
!ann	Command	Channel 1, reverse command to value nn
!Bnn	Command	Channel 2, forward command to value nn
!bnn	Command	Channel 2, reverse command to value nn
!C	Command	Turn Accessory Output C n
!c	Command	Turn Accessory Output C Off
?a or ?A	Query	Read Battery Amps
?v or ?V	Query	Read Power Level applied to motors
?p or ?P	Query	Read Analog Inputs 1 and 2
?r or ?R	Query	Read Analog Inputs 3 and 4

142 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007