RoboteQ Dual Channel Digital Motor Controller AX2550 - Manual (Page 10)

10 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
Controller Identification Register 144
Current Amps Limit Registers 144
RS232 Encoder Command Set 145
Read Encoder Counter 145
Set/Reset Encoder Counters and Destination Registers 145
Read Speed 146
Read Distance 147
Read Speed/Distance 147
Read Encoder Limit Switch Status 147
Read / Modify Encoder Module Registers and Parameters 148
Register Description 150
Encoder Hardware ID code 150
Switch Status 150
Speed or Distance 1 or 2 150
Counter Read/Write Mailbox 151
Counter 1 and 2 151
Destination Register 1 and 2 151
Distance 1 and 2 152
Speed 1 and 2 152
Time Base 1 and 2 152
Encoder Threshold 152
Distance Divider 152
Counter Read Data Format 153
Encoder Testing and Setting Using the PC Utility 153
Automatic Switching from RS232 to RC Mode 155
Analog and R/C Modes Data Logging String Format 156
Data Logging Cables 156
Decimal to Hexadecimal Conversion Table 157
SECTION 14 Using the Roborun Configuration Utility 161
System Requirements 161
Downloading and Installing the Utility 161
Connecting the Controller to the PC 162
Roborun Frame, Tab and Menu Descriptions 163
Getting On-Screen Help 164
Loading, Changing Controller Parameters 164
Control Settings 165
Power Settings 166
Analog or R/C Specific Settings 167
Closed Loop Parameters 168
Encoder Setting and Testing 168
Encoder Module Parameters Setting 169
Exercising the Motors 170
Viewing Encoder Data 170
Running the Motors 170