RoboteQ AX2550/2850 ユーザーズマニュアル
AX2500/2850 Motor Controller User’s Manual
93
RS232 Commands Set
!B7F
channel 2, 100% forward
!a3F
channel 1, 50% reverse
Notes:
The hexadecimal number must always contain two digits. For example, !a5 will not be
recognized and the controller will respond with a “-” to indicate an error. The proper com-
mand in this case should be !a05
The hexadecimal number must always contain two digits. For example, !a5 will not be
recognized and the controller will respond with a “-” to indicate an error. The proper com-
mand in this case should be !a05
Hexadecimal numbers are easy to generate using a microcomputer. When exercising the
controller manually, you may use the Decimal to Hexadecimal conversion table on
page 103.
controller manually, you may use the Decimal to Hexadecimal conversion table on
page 103.
Set Accessory Outputs
Description:
Turn on or off one of the 2 available digital output lines on the 15-pin connector. See “Using
the General Inputs and Outputs” on page 29 for details on how to identify and wire these
signals.
Turn on or off one of the 2 available digital output lines on the 15-pin connector. See “Using
the General Inputs and Outputs” on page 29 for details on how to identify and wire these
signals.
Syntax:
!M
Where
M= c: output C off
C: output C on
d: output D off
D: output D on
d: output D off
D: output D on
Examples:
!C
!C
turn C output on
!d
turn D output off
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.
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
mm
Where:
nn = motor 1 applied power value
mm = motor 2 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.
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 con-
troller. The hexadecimal format is intended to be deciphered by a microcontroller. When
troller. The hexadecimal format is intended to be deciphered by a microcontroller. When