RoboteQ AX2850 ユーザーズマニュアル
Serial (RS-232) Controls and Operation
152
AX2550 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
Important Notice:
Do not write in the locations marked as Read Only. Doing so my cause Controller
malfunction.
malfunction.
Operating Modes Registers
Address:
^80 - Channel 1
^81 - Channel 2
^81 - Channel 2
Access:
Read/Write
Effective:
Instantly
Modifying the bits in the Operating Mode registers will change the controller’s operating
modes on-the fly. Changes take effect at the controller’s next 16ms iteration loop. After
reset, these bits get initialized according to the configuration contained in Flash.
modes on-the fly. Changes take effect at the controller’s next 16ms iteration loop. After
reset, these bits get initialized according to the configuration contained in Flash.
Values are in Hexadecimal.Example: 00000101 = Hex 05
Read/Change PID Values
Address:
^82 - P1
^83 - I1
^84 - D1
^85 - P2
^83 - I1
^84 - D1
^85 - P2
^86
PID Differential gain 1
R/W
^87
PID Differential gain 2
R/W
^88
PWM frequency
R/W
^89
Controller Status
R Only
^8A
Controller Model
R Only
^8B
Current Amps limit 1
R Only
^8C
Current Amps limit 2
R Only
TABLE 27. Operating Modes Register Definition
Bit
Function
7 to 3
Not Used
2
0: Open Loop
1: Closed Loop
(when in Speed Mode)
1
0: Speed Mode
1: Position Mode
0
0: Analog Feedback
1: Encoder Feedback
TABLE 26. Runtime R/W Parameters list
Location
Function
R/W