RoboteQ AX500 manual Query Battery Voltages, Query Digital Inputs, Reset Controller

Controller Commands and Queries

Query Battery Voltages

Description:

This query will cause the controller to return values based on two internally measured volt- ages: the first is the Main Battery voltage present at the thick red and black wires. The sec- ond is the internal 12V supply needed for the controller’s microcomputer and MOSFET drivers. The values are unsigned Hexadecimal numbers ranging from 0 to 255. To convert these numbers into a voltage figure, use the formulas described in “Internal Voltage Moni- toring Sensors” on page 59.

Syntax: ?e or ?E

Reply:nn mm

Where:nn = main battery voltage value

mm= internal 12V voltage value

Notes:

The hexadecimal format is intended to be deciphered by a microcontroller. When exercis- ing the controller manually, refer to the Decimal to Hexadecimal conversion table on page 127.

Query Digital Inputs

Description:

This query will cause the controller to return the state of the controller’s two accessory inputs (inputs E and F) and the state of the Emergency Stop/Inverted input. See “Connect- ing Sensors and Actuators to Input/Outputs” on page 47 for information on how to wire and use these signals. The returned values are three sets of two digits with the values 00 (to indicate a 0 or Off state), or 01 (to indicate a 1 or On state).

Syntax: ?i or ?I

Reply:nn mm oo

Where:nn = Input E status

mm= Input F status

oo= Estop/Invert Switch Input status

Examples:
?I	Read Input status query
01	Controller replies, Input E is On
00	Input F is Off
01	Emergency stop switch is high (not triggered)

Reset Controller

Description:

This command allows the controller to be reset in the same manner as if the reset button were pressed. This command should be used in exceptional conditions only or after chang- ing the controller’s parameters in Flash memory so that they can take effect.

Syntax:%rrrrrr

AX500 Motor Controller User’s Manual 111