RoboteQ AX500 manual Using the Console, Connecting a Joystick

Using the Roborun Configuration Utility

TABLE 25. Logged parameters order, type and definition

Parameter Header	Data type/range	Measured Parameter
Power2	0 to 127	Same for channel 2
Ana 1, Speed 1, Pos 1	-127 to + 127	Value of sensor connected on analog input 1. Data is
or Temp 1	-40 to +150	automatically converted to the right value and format
		by Roborun according to the sensor that is being used.
or Volt 1	0 to 55
Ana 2, Speed 2, Pos 2	-127 to + 127	Same for channel 2
Temp 2 or	-40 to +150
Volt 2	0 to 55
Amps1	0 to 255	Measured Amps on channel 1
Amps2	0 to 255	Measured Amps on channel 2
FET Temp1	-40 to +150	Measured Temperature on channel 1’s heatsink.
FET Temp2	-40 to +150	Measured Temperature on channel 2’s heatsink.
Batt Volt	0 to 55	Main Battery Voltage.
Ctrl Volt	0 to 28.5	Internal 12V Voltage.
Enc1	-127 to + 127	Measured Optical Encoder’s Speed or Position
		depending on selected operating mode
Enc2	-127 to + 127	Same for channel 2

Connecting a Joystick

Exercising the motors can easily be done using a Joystick in addition to the on-screen slid- ers. Simply connect a joystick to the PC and enable it by clicking in the Joystick check box in the PC utility.

If the box is grayed out, the joystick is not properly installed in the PC. Click on the “Config

Joystick” button to open a configuration screen and the joystick control panel.

Joystick movement should automatically translate into Channel 1 and Channel 2 command values and make the sliders move. These commands are also sent to the controller. In the Config Joystick panel, the Joystick may be configured so that the X-Y channels are swapped and the direction for each axis reversed.

It is strongly recommended that an USB rather than Analog joystick be used.

A joystick test program name “Joytest” is automatically installed in the Start menu when installing the Roborun utility. This program may be used to further verify that the joystick is properly installed in the PC and is fully operational.

Using the Console

The console screen allows you to communicate with the controller using raw ASCII data. This function is very useful for troubleshooting when normal communication with Roborun cannot be established (e.g. “Controller not found”, no response to command changes, communication errors, ...etc.). The Roborun utility will let you exercise and monitor the motors, sensors and actuators using a computer. This feature is particularly useful during

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