RoboteQ AX2550 Manual Do Utilizador
Serial (RS-232) Controls and Operation
126
AX1500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
After this information is sent, the Encoder’s MCU will “listen” for approximately 100ms
and will enter the In System Programming mode (ISP) if the letter “Z” is sent to it. While in
the ISP mode, new software can be loaded into the Encoder’s MCU via the controller’s
main serial port.
and will enter the In System Programming mode (ISP) if the letter “Z” is sent to it. While in
the ISP mode, new software can be loaded into the Encoder’s MCU via the controller’s
main serial port.
Details on software updating are given in section “Updating the Controller’s Software” on
page 178.
page 178.
Entering RS232 from R/C or Analog mode
If the controller is configured in R/C or Analog mode, it will not be able to accept and recog-
nize RS232 commands immediately.
nize RS232 commands immediately.
However, the controller will be “listening” to the serial port and will enter the serial mode
after it has received 10 continuous “Enter” (Carriage Return) characters. At that point, the
controller will output an “OK” message, indicating that it has entered the RS232 mode and
that it is now ready to accept commands.
after it has received 10 continuous “Enter” (Carriage Return) characters. At that point, the
controller will output an “OK” message, indicating that it has entered the RS232 mode and
that it is now ready to accept commands.
Note that for improved safety, the RS232 watchdog is automatically enabled when entering
the RS232 in this way. See “RS-232 Watchdog” on page 128.
the RS232 in this way. See “RS-232 Watchdog” on page 128.
When reset again, the controller will revert to the R/C mode or Analog mode, unless the
Input Mode parameter has been changed in the meantime.
Input Mode parameter has been changed in the meantime.
Data Logging String in R/C or Analog mode
If the controller is in the R/C or analog mode, immediately after reset it will send a continu-
ous string of characters (one character every 8ms, one entire string every 200ms) contain-
ing operating parameters for data logging purposes.
ous string of characters (one character every 8ms, one entire string every 200ms) contain-
ing operating parameters for data logging purposes.
This information can be safely ignored and the controller will still be able to switch to
RS232 mode upon receiving 10 continuous Carriage Returns as described above.
RS232 mode upon receiving 10 continuous Carriage Returns as described above.
The format of the data logging string and it content is described in Figure , “Analog and R/C
Modes Data Logging String Format,” on page 156
Modes Data Logging String Format,” on page 156
FIGURE 83. Hyperterm session showing power up messages from both MCUs
Power up prompt from main MCU
Power up prompt from encoder MCU
Hardware Code of main board
Hardware Code of Encoder Module