RoboteQ AX500 manual Query Power Applied to Motors, Query Amps from Battery to each Motor Channel

Controller Commands and Queries

!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 applied to the motors at that time. The number is a hexadecimal number ranging from 0 to +127 (0 to 7F in Hexadecimal). In most cases, this value is directly related to the command value, except in the conditions described in the notes below.

Syntax: ?v or ?V

Reply:nn mm

Where:nn = motor 1 applied power value

mm= motor 2 applied power value

Notes:

The applied power value that is read back from the controller can be different than the com- mand values for any of the following reasons: current limitation is active, motors operate at reduced speed after overheat detection, or mixed mode is currently active.

No forward or reverse direction information is returned by this query. This query is most useful for providing feedback to a microcontroller commanding the controller.

Query Amps from Battery to each Motor Channel

Description:

This query will cause the controller to return the actual number of Amps flowing from the battery to power each motor. The number is an unsigned Hexadecimal number ranging from 0 to 256 (0 to FF in Hexadecimal).

Syntax: ?a or ?A

Reply:nn mm

Where:nn = motor 1 Amps

mm= motor 2 Amps

Notes:

The Amps measurement has an approximately 10% precision. Its main purpose is to pro- vide feedback to the controller’s current limitation circuitry.

Important Notice

The current flowing in the motor can be higher than the battery flowing out of the battery. See “Battery Current vs. Motor Current” on page 39.

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