RoboteQ AX3500 用户手册
R/C Operation
124
AX3500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
Notes:
If you attempt to calibrate the joysticks while the radio is off or not connected to the con-
troller, the calibration data will not change and the previously stored information will con-
tinue to be used.
troller, the calibration data will not change and the previously stored information will con-
tinue to be used.
If calibration is performed with only one R/C channel connected to the controller, then only
the joystick that is active will be calibrated. The other channel will keep its original settings.
the joystick that is active will be calibrated. The other channel will keep its original settings.
A minimum amount of travel is required between the min, max and center joystick posi-
tions. If, while calibrating, the joystick has not been moved far enough from either side of
the center position, the controller will automatically include a minimum of travel to ensure
proper and safe operation. In most cases, this creates no undesired effect to the driving
characteristics of the robot.
tions. If, while calibrating, the joystick has not been moved far enough from either side of
the center position, the controller will automatically include a minimum of travel to ensure
proper and safe operation. In most cases, this creates no undesired effect to the driving
characteristics of the robot.
R/C calibration only applies to the channel 1 and channel 2 inputs. The accessory activation
channel (channel 3) is preset at the factory and cannot be changed.
channel (channel 3) is preset at the factory and cannot be changed.
Important Notice
To ensure that only stable pulses are present, the R/C transmitter and radio must be
On before entering joystick calibration.
On before entering joystick calibration.
Note: Channel 3 is not available on the controllers equipped with encoder inputs.
Data Logging in R/C Mode
While in R/C Mode, the AX3500 will continuously send a string of characters on the RS232
output line. This string will contain 12 two-digit hexadecimal numbers representing the fol-
lowing operating parameters.
output line. This string will contain 12 two-digit hexadecimal numbers representing the fol-
lowing operating parameters.
•
Captured R/C Command 1 and 2
•
Power Applied to Controller’s output stage
•
Values applied to Analog inputs 1 and 2
•
Amps on channel 1 and 2
•
Internal Heat Sink temperatures 1 and 2
•
Main Battery voltage
•
Internal 12V voltage
•
Encoder Speed or Position feedback.
The entire string is repeated every 200 milliseconds with the latest internal parameter val-
ues. This information can be logged using the Roborun Utility (see “Viewing and Logging
Data in Analog and R/C Modes” on page 197). It may also be stored in a PDA that can be
placed in the mobile robot.
ues. This information can be logged using the Roborun Utility (see “Viewing and Logging
Data in Analog and R/C Modes” on page 197). It may also be stored in a PDA that can be
placed in the mobile robot.
The string and data format is described in “Analog and R/C Modes Data Logging String For-
mat” on page 170. The serial port’s output can be safely ignored if it is not required in the
application.
mat” on page 170. The serial port’s output can be safely ignored if it is not required in the
application.
To read the output string while operating the controller with the R/C radio, you must mod-
ify the R/C cable to add an RS232 output wire and connector that will be connected to the
ify the R/C cable to add an RS232 output wire and connector that will be connected to the