RoboteQ AX500 Manual Do Utilizador

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If the RS232 watchdog is enabled, the controller will stop the motors and issue a “W” 
character if it has not received a valid character from the PC or microcontroller within the 
past 1 seconds.

For applications demanding the highest operating safety, the controller may be configured 
to automatically stop the motors (but otherwise remain fully active) if it fails to receive a 
character on its RS232 port for more than 1 seconds. 

The controller will also send a “W” character every second to indicate to the microcom-
puter that such a time-out condition has occurred.

The character does not need to be a specific command, but any ASCII code, including invis-
ible ones.

The RS232 watchdog is enabled or disabled depending on the value of the “Input Com-
mand Mode” parameter.

The RS232 watchdog is automatically enabled when entering the RS232 mode from the 
RC or from the Analog modes (see “Entering RS232 from R/C or Analog mode” on 
page 105)

AX500 commands and queries are composed of a series of 2 or 4 characters followed by 
the “enter” (carriage return) code.

The controller will send back (echo) every character it is receiving. By checking that the 
returned character is the same as the one sent, it is possible to verify that there has been 
no error in communication.

After a command has been received and properly executed, the controller will send the 
“+” character.

If a command has been received with errors or bad parameters, the controller will send the 
“-” character.

The table below lists the AX500 RS232 commands and queries

TABLE 17. Controller’s basic Commands and Queries

%rrrrrr

Command

Reset Controller

!Ann

Command

Channel 1, forward command to value nn

!ann

Command

Channel 1, reverse command to value nn

!Bnn

Command

Channel 2, forward command to value nn

!bnn

Command

Channel 2, reverse command to value nn