RoboteQ AX500 manual Set Motor Command Value, Set Accessory Output

Serial (RS-232) Controls and Operation

TABLE 17. Controller’s basic Commands and Queries

Command	Type	Description
!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
?m or ?M	Query	Read Heatsink Temperature
?e or ?E	Query	Read Battery and Internal Voltage
?i or ?I	Query	Read Digital Inputs

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 “AX500’s Inputs and Out- puts” on page 48 for details on how to identify and wire these signals.

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

108 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007