RoboteQ Dual Channel Digital Motor Controller AX500 用户手册
Serial (RS-232) Controls and Operation
120
AX500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
The table below lists the available parameters
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
TABLE 19. Runtime R/W Parameters list
Location
Function
R/W
^80
Channel 1 Operating Modes
R/W
^81
Channel 2 Operating Modes
R/W
^82
PID Proportional gain 1
R/W
^83
PID Proportional gain 2
R/W
^84
PID Integral gain 1
R/W
^85
PID Integral gain 2
R/W
^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 20. Operating Modes Register Definition
Bit
Function
7 to 3
Not Used
2
0: Open Loop
1: Closed Loop
(when in Speed Mode)