RoboteQ AX2850 - Manual (Page 139)

AX2550 Motor Controller User’s Manual 139
Controller Commands and Queries
Set Motor Command Value
Description:
Send a speed of position value from 0 to 127 in the forward or reverse direction for a given
channel. In mixed mode, channel 1 value sets the common forward and reverse value for
both motors, while channel 2 sets the difference between motor 1 and motor 2 as required
for steering. In all other modes, channel 1 commands motor 1 and channel 2 commands
motor 2.
Syntax: !Mnn
Where M= A: channel 1, forward direction
a: channel 1, reverse direction
B: channel 2, forward direction
b: channel 2, reverse direction
Where nn= Speed or position value in 2 Hexadecimal digits from 00 to 7F
Examples:
!A00
channel 1 to 0
!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.
Set Accessory Output
Description:
Turn on or off the digital output line on the 15-pin connector. See “AX2550’s Inputs and
Outputs” on page 57 for details on how to identify and wire these signals.
Syntax: !M
Where: M=
c: output C off
C: output C on
Examples:
!C
turn C output off
!c turn C output on
?m or ?M Query Read Heatsink Temperature
?e or ?E Query Read Battery and Internal Voltage
?i or ?I Query Read Digital Inputs
?k or ?K Query Quick read of Encoder Speed or Position if present
TABLE 24. Controller’s basic Commands and Queries
Command Type Description