RoboteQ AX3500 Set Motor Command Value, Set Accessory Output, Query Power Applied to Motors, Type

Controller Commands and Queries

TABLE 24. Controller’s basic Commands and Queries

Command	Type	Description
?m or ?M	Query	Read Heatsink Temperature
?e or ?E	Query	Read Battery and Internal Voltage
?i or ?I	Query	Read Digital Inputs
?k or ?K	Query	Quick read of Encoder Speed or Position

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
!B7F	channel 2, 100% forward
!a3F	channel 1, 50% reverse

Notes:

The hexadecimal number must always contain two digits. For example, !a5 will not be recognized and the controller will respond with a “-” to indicate an error. The proper com- mand in this case should be !a05.

Set Accessory Output

Description:

Turn on or off the digital output line on the 15-pin connector. See “AX3500’s Inputs and Outputs” on page 56 for details on how to identify and wire these signals.

Syntax:	!M
Where:	M=
	c: output C off
	C: output C onExamples:
!C	turn C output off
!c	turn C output on

Query Power Applied to Motors

Description:

This query will cause the controller to return the actual amount of power that is being

AX3500 Motor Controller User’s Manual 143