RoboteQ AX3500 user manual Encoder Testing and Setting Using the PC Utility, Decimal, bit Hex

ahead of any number string starting with a digit value lower than 8 (i.e. 0 to 7). The table below shows examples of this scheme as applied to various counter values.

TABLE 33. Example counter values and RS232 output using a reduction scheme

Decimal	32-bit Hex	Controller Output
+5	00000005	5
+250	000000FA	0FA
-6	FFFFFFFA	A
-235	FFFFFF15	F15
+91,011,186	056CB872	56CB872
-7,986,091	FF862455	862455

When reading the counter value into a microcomputer, the reverse operation must take place: any output that is less than 8 digit long must be completed with a string of 0’s if the first digit is of value 0 to 7, or with a string of F’s if the first digit is of value 8 to F.

The resulting Hex representation of a signed 32-bit number must then be converted to binary or decimal as required by the application.

The burden of this extra processing is more than offset by the bandwidth relief on the con- troller’s serial port.

Encoder Testing and Setting Using the PC Utility

Extensive diagnostic, calibration, setting and testing support is provided in the Roborun PC utility. Basic instructions on how to install and run the PC utility can be found in “Using the Roborun Configuration Utility” on page 181

168 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007