RoboteQ Dual Channel High Power Digital Motor Controller AX3500 用户手册
164
AX3500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
Important Warning
Do not alter any other area locations, as this may cause program execution failure
inside the encoder module.
inside the encoder module.
Register Description
Encoder Hardware ID code
Address:
*84
Returns a 4-bit number identifying the encoder module hardware version and the status of
two on-board jumpers. For Roboteq use only.
two on-board jumpers. For Roboteq use only.
Switch Status
Address:
*85
Returns a 4 bit number (4 least significant bits of the byte), each representing the state of
one of the limit switches when installed. The ?W command described at “Read Encoder
Limit Switch Status” on page 161 is a preferred method for reading this information.
one of the limit switches when installed. The ?W command described at “Read Encoder
Limit Switch Status” on page 161 is a preferred method for reading this information.
*98
Destination Register 1 MSB (bits 31 to 24)
4 bytes
Full
*99
Destination Register 1 (bits 23 to 16)
*9A
Destination Register 1 (bits 15 to 8)
*9B
Destination Register 1 LSB (bits 7 to 0)
*9C
Distance 1 (when Position Mode enabled)
1 byte
Full
*8D
Distance 2 (when Position Mode enabled)
1 byte
Full
*86
Speed 1
1 byte
Full
*87
Speed 2
1 byte
Full
*A2
Time Base for speed computation of Encoder 1. Multiply
this number by 256us to obtain the actual Time Base period.
this number by 256us to obtain the actual Time Base period.
1 byte
Full
*A3
Time Base for speed computation of Encoder 2. Multiply
this number by 256us to obtain the actual Time Base period.
this number by 256us to obtain the actual Time Base period.
1 byte
Full
*A4
Encoder threshold level (see “Voltage Levels, Thresholds
and Limit Switches” on page 81
and Limit Switches” on page 81
1 byte
Full
*A5
Distance divider
1 byte
Full
*A6
Mode Selection
1 byte
Limited
*A8 to *AF
Pulse width on RC1 to RC8 outputs
1 byte
Full
TABLE 31. Encoder Registers
Address
Parameter Description
Size
Access