RoboteQ AX2550/2850 ユーザーズマニュアル
AX2500/2850 Motor Controller User’s Manual
145
RS232 Encoder Command Set
Note that for this function to work, limit switches must be connected to the encoder mod-
ule using the special wiring diagram show in “Wiring Optional Limit Switches” on
page 137. If no limit switches are present, this query will return the logic levels of each of
the encoder’s quadrature outputs, which in most cases is not a relevant information.
ule using the special wiring diagram show in “Wiring Optional Limit Switches” on
page 137. If no limit switches are present, this query will return the logic levels of each of
the encoder’s quadrature outputs, which in most cases is not a relevant information.
Syntax:
?w or ?W
Reply:
0n
Where:
n = switch status
The relationship between the value of n and the switch status is shown in the table below.
Extracting the status of a given switch from this number is easily accomplished by soft-
ware using masking.
Extracting the status of a given switch from this number is easily accomplished by soft-
ware using masking.
Note that the 0 and 1 levels represents a Closed Switch and Open Switch status, respec-
tively.
tively.
Read / Modify Encoder Module Registers and Parameters
Description
These commands make it possible to examine and change parameters that are stored in
the Encoder’s module MCU RAM. While this command provides unrestricted access to up
to 256 memory locations, a small number of these location should ever be read or altered.
Parameter address and returned values are two digit Hexadecimal numbers (8-bit).
These commands make it possible to examine and change parameters that are stored in
the Encoder’s module MCU RAM. While this command provides unrestricted access to up
to 256 memory locations, a small number of these location should ever be read or altered.
Parameter address and returned values are two digit Hexadecimal numbers (8-bit).
Important Note
Command character has been changed from “$” to “*” starting in version 1.7 of the
controller firmware.
controller firmware.
TABLE 24. Reported value and switch status relationship
n Value
Switch
n Value
Switch
4
3
2
1
4
3
2
1
0
0
0
0
0
8
1
0
0
0
1
0
0
0
1
9
1
0
0
1
2
0
0
1
0
A
1
0
1
0
3
0
0
1
1
B
1
0
1
1
4
0
1
0
0
C
1
1
0
0
5
0
1
0
1
D
1
1
0
1
6
0
1
1
0
E
1
1
1
0
7
0
1
1
1
F
1
1
1
1