RoboteQ AX2550/2850 Controller replies, value is, Address Parameter Description Size Access

Installing, Connecting and Using the Encoder Mod-

Read parameter
Syntax:	*mm
Reply:	DD
Where	mm= address location of parameter
	DD= parameter value
Example:
*84	Read value of parameter at address hex 84
01	Controller replies, value is 01
Modify parameter
Syntax:	*mm nn
Reply:	+ if command was executed successfully
	- if error
Where	mm= parameter address
	nn= new parameter value
Examples:
*84 03	Store 03 into parameter at address hex 84

Notes:

All parameters and values are expressed with 2 hexadecimal digits

The table below lists maps the few relevant parameters that can be accessed using this command.

TABLE 25.

Address	Parameter Description		Size	Access
84	Encoder Hardware ID Code		1 byte	Full
85	Switches Status		1 byte	Full
86	Speed or Distance 1 (depending on operating mode)		1 byte	Full
87	Speed or Distance 2 (depending on operating mode)		1 byte	Full
88	Counter Read/Write Mailbox MSB (bits 31 to 24)
89	Counter Read/Write Mailbox (bits 23 to 16)		4 bytes	Full
8A	Counter Read/Write Mailbox (bits 15 to 8)
8B	Counter Read/Write Mailbox LSB (bits 7 to 0)
8C	Counter 1	MSB (bits 31 to 24)
8D	Counter 1	(bits 23 to 16)	4 bytes	Limited
8E	Counter 1	(bits 15 to 8)
8F	Counter 1	LSB (bits 7 to 0)

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