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AX1500 Motor Controller User’s Manual 9
Connector I/O Pin Assignment (RS232 Mode) 122
Cable configuration 123
Extending the RS232 Cable 123
Communication Settings 124
Establishing Manual Communication with a PC 124
RS232 Communication with the Encoder Module 125
Entering RS232 from R/C or Analog mode 126
Data Logging String in R/C or Analog mode 126
RS232 Mode if default 127
Commands Acknowledge and Error Messages 127
Character Echo 127
Command Acknowledgement 127
Command Error 127
Watchdog time-out 127
RS-232 Watchdog 128
Controller Commands and Queries 128
Set Motor Command Value 129
Set Accessory Output 129
Query Power Applied to Motors 130
Query Amps from Battery to each Motor Channel 130
Query Analog Inputs 131
Query Heatsink Temperatures 131
Query Battery Voltages 131
Query Digital Inputs 132
Reset Controller 132
Accessing & Changing Configuration Parameter in Flash 133
Apply Parameter Changes 133
Flash Configuration Parameters List 134
Input Control Mode 135
Motor Control Mode 135
Amps Limit 136
Acceleration 137
Input Switches Function 137
RC Joystick or Analog Deadband 138
Exponentiation on Channel 1 and Channel 2 138
Left/Right Adjust 139
Default Encoder Time Base 1 and 2 139
Default Encoder Distance Divider 140
Default PID Gains 140
Joystick Min, Max and Center Values 140
Reading & Changing Operating Parameters at Runtime 141
Operating Modes Registers 142
Read/Change PID Values 142
PWM Frequency Register 143
Controller Status Register 143