RoboteQ AX2550/2850 user manual Pid

Serial (RS-232) Controls and Operation

TABLE 18. AX2500/2850 Configuration parameters accessible through RS232

Param				Active	See
nbr	Description	Allowed Values (default)		after	pages
04	Input switch func-	Bits 0 to 3 contain the EStop/Inv input		Reset
	tion	operating mode		or ^FF
		0	= causes emergency stop		page 45
		1	= invert commands		page 46
		(2) = no action (default)
		Bits 4,5 and 6.7 contain the Input E and
		Input F respective configurations
		(0) = no action
		1	= Activate Output C		page 46
		2	= Turn MOSFETs On or Off		page 46
05	Brake/Coast	not implemented
06	Joystick Deadband	Values are for Joystick deadband		Reset	page 80
	or	0	= no deadband	or ^FF	or
	Analog Deadband	1	= 8%		page 111
		(2) = 16% (default)
		3	= 24%
		4	= 32%
		5	= 40%
		6	= 46%
		7	= 54%
07	Exponentiation on	(0) = Linear (no exponentiation - default)		Instant	page 81
	channel 1	1	= strong exponential
		2	= normal exponential
		3	= normal logarithmic
		4	= strong logarithmic
08	Exponentiation on	Same as E, above		Instant
	channel 2
09	Reserved
0A	Reserved
0B	Left / Right Adjust	(7) = no adjustment (default)		Reset	page 43
		0, 1, ..., 6 = -5.25%, -4.5%, ...,-0.75%		or ^FF
		8, ..., D, E** = +0.75, ..., +4.5%, +5.25%
0C to	Reserved	Do not use
OE
0F	Gain Integral for	0 to 64 (16) default		Instant
	PID
10	Gain Diff for PID	0 to 64 (16) default		Instant
11	Gain Prop for PID	0 to 64 (16) default		Instant

100 AX2500/2850 Motor Controller User’s Manual Version 1.7. February 1, 2005