RoboteQ Dual Channel High Power Digital Motor Controller AX3500 用户手册

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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 140)

AX3500 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 AX3500 RS232 commands and queries

TABLE 24. 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

!C

Command

Turn Accessory Output C n

!c

Command

Turn Accessory Output C Off

?a or ?A

Query

Read Battery Amps

?v or ?V

Query

Read Power Level applied to motors

?p or ?P

Query

Read Analog Inputs 1 and 2

?r or ?R

Query

Read Analog Inputs 3 and 4