RoboteQ Dual Channel Digital Motor Controller AX500 用户手册
AX500 Motor Controller User’s Manual
91
Data Logging in R/C Mode
Data Logging in R/C Mode
While in R/C Mode, the AX500 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
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 144). 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 144). 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 126. The serial port’s output can be safely ignored if it is not required in the
application.
mat” on page 126. 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
PC’s communication port. Figure 61 and below shows the wiring diagram of the modified
R/C cable for connection to a PC.
ify the R/C cable to add an RS232 output wire and connector that will be connected to the
PC’s communication port. Figure 61 and below shows the wiring diagram of the modified
R/C cable for connection to a PC.
Output C
ON
Output C
OFF
OFF
Output C
OFF
OFF
FIGURE 60. Using Channel 3 to activate accessory outputs