Datasheet

B.2. Sensor&Management communication protocol
Enable/Disable/Charge Motors Power:
[Command] = 0x45
Write -> [0x45][Control]
Read -> [0x45] [Send Number] [CheckSum_H] [CheckSum_L]
where:
[Control] = 0 : Motor power Disabled;
[Control] =1 : Charge motor power enable Mode;
[Control] = 2 : Motor power Enable.
Enable/Disable/Charge Auxiliary Power battery 1 to 5:
[Command] = 0x40 to 0x44
Write -> [0x40 to 0x44][Control]
Read -> [0x40 to 0x44] [Send Number] [CheckSum_H] [CheckSum_L]
where:
[Control] = 0 : Auxiliary power battery (1 to 5) Disabled;
[Control] = 1 : Charge auxiliary power battery ( 1 to 5) enable Mode;
[Control] = 2 : Auxiliary power battery (1 to 5) Enable.
Enable/Charge Electronic Power battery:
[Command] = 0x46
Write -> [0x46][Control]
Read -> [0x46] [Send Number] [CheckSum_H] [CheckSum_L]
where:
[Control] =1 : Charge electronic battery enable Mode;
[Control] =2 : Electronic power battery Enable.
Get Batteries Voltage command:
[Command] = 0x51
Write -> [0x51]
Read -> [0x51] [24V Motor Battery] [Motor High Battery] [Motor Low Battery] [Electronics
Battery] [Charger] [Send Number] [CheckSum_H] [CheckSum_L]
Where:
[24V Motor Battery] is the sum of the Motor High and Motor Low battery voltages. When in
charging mode the value is +/- 0V.
To obtain the real measured voltage of this battery the following formula must be used:
Motor battery voltage = (double)((double)[ 24V Motor Battery]*2.0 / 10.0);
[Motor High Battery] is the battery that will connect to the (+) of the Motor Drivers Power
supply and the (+) of the [Motor Low Battery]. It will only be different from 0V when in
charging mode.
To obtain the real measured voltage of this battery the following formula must be used:
Motor High battery voltage = (double)((double)[Motor High Battery] / 10.0);
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 57