RoboteQ Dual Channel Digital Motor Controller AX500 用户手册
Serial (RS-232) Controls and Operation
122
AX500 Motor Controller User’s Manual
Version 1.9b. June 1, 2007
The Controller Status Register can be polled at any time to see if there is a pending fault
condition. Any one bit set will cause the controller to turn off the Power Output stage. Con-
ditions marked as Temporary mean that the controller will resume operation as soon as the
fault condition disappears. Permanent conditions will cause the controller to remain off
until it is reset either by cycling power, pressing the reset button, or sending the %rrrrrr
command.
condition. Any one bit set will cause the controller to turn off the Power Output stage. Con-
ditions marked as Temporary mean that the controller will resume operation as soon as the
fault condition disappears. Permanent conditions will cause the controller to remain off
until it is reset either by cycling power, pressing the reset button, or sending the %rrrrrr
command.
Controller Identification Register
Address:
^8A
Access:
Read Only
Effective:
Instantly
This register may be used to query the Controller’s model and some of its optional hard-
ware configurations.
ware configurations.
Current Amps Limit Registers
Address:
^8B - Channel 1
^8C - Channel 2
^8C - Channel 2
Access:
Read Only
Effective:
Instantly
TABLE 21. Controller Status Register Definition
Bit
Fault Condition
Effect
0
Overvoltage
Temporary
1
Overtemperature
Temporary
2
Undervoltage
Temporary
3
Manually Forced MOSFETs Off
Temporary
4
Unused
5
Confirmed Short Circuit
Permanent
6
Confirmed Encoder Error
Permanent
7
Emergency Stop Pressed
Permanent
TABLE 22. Controller Identification Register Definition
Bit
Model or Function
0
AX500
1
AX1500
2
AX2500
3
AX3500
4
Unused
5
Encoder Present
6
Short Circuit Detection Present
7
Unused