RoboteQ AX2550 Manual Do Utilizador
Installing, Connecting and Using the Encoder Mod-
78
AX1500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
The actual formula is as follows:
Distance = (Destination - Counter value) / Divider
Where: divider is a configurable parameter of value 1, 2, 4, 8, 16, 32, 64 or 127
If computed distance is less than -127, then reported distance is -127
If computed distance is larger than +127, then reported distance is +127
Important Notice
Encoders do not report an absolute position value but a count that is relative to the
point where the motor shaft was at power up. It is typically necessary to have the
motors moved to a “home” position and reset the counters at that reference point.
point where the motor shaft was at power up. It is typically necessary to have the
motors moved to a “home” position and reset the counters at that reference point.
RS232 Communication with the Encoder Module
The contains its own Microcontroller and firmware in Flash. When present, it responds to a
large set of dedicated commands and queries via the controller’s serial port. See “RS232
Encoder Command Set” on page 145.
large set of dedicated commands and queries via the controller’s serial port. See “RS232
Encoder Command Set” on page 145.
Destination= 50,050
distance at
divider
50
1
25
2
12
4
6
8
3
16
1
32
0
64
0
128
Counter= 50,000
FIGURE 46. Small distance computation example
Destination= 50,000
distance at
divider
127
1
127
2
127
4
127
8
127
16
127
32
78
64
39
128
Counter= 45,000
FIGURE 47. Large distance computation example