RoboteQ AX2550/2850 Read / Modify Encoder Module Registers and Parameters, ?w or ?W, Switch Value

RS232 Encoder Command Set

Note that for this function to work, limit switches must be connected to the encoder mod- ule using the special wiring diagram show in “Wiring Optional Limit Switches” on

page 137. If no limit switches are present, this query will return the logic levels of each of the encoder’s quadrature outputs, which in most cases is not a relevant information.

Syntax:	?w or ?W
Reply:	0n
Where:	n = switch status

The relationship between the value of n and the switch status is shown in the table below. Extracting the status of a given switch from this number is easily accomplished by soft- ware using masking.

TABLE 24. Reported value and switch status relationship

		Switch					Switch
n Value					n Value
	4	3	2	1		4	3	2	1
0	0	0	0	0	8	1	0	0	0
1	0	0	0	1	9	1	0	0	1
2	0	0	1	0	A	1	0	1	0
3	0	0	1	1	B	1	0	1	1
4	0	1	0	0	C	1	1	0	0
5	0	1	0	1	D	1	1	0	1
6	0	1	1	0	E	1	1	1	0
7	0	1	1	1	F	1	1	1	1

Note that the 0 and 1 levels represents a Closed Switch and Open Switch status, respec- tively.

Read / Modify Encoder Module Registers and Parameters

Description

These commands make it possible to examine and change parameters that are stored in the Encoder’s module MCU RAM. While this command provides unrestricted access to up to 256 memory locations, a small number of these location should ever be read or altered. Parameter address and returned values are two digit Hexadecimal numbers (8-bit).

Important Note

Command character has been changed from “$” to “*” starting in version 1.7 of the controller firmware.

AX2500/2850 Motor Controller User’s Manual 145