RoboteQ AX2550/2850 user manual Register Description, Encoder Hardware ID code

Register Description

TABLE 25.

Address	Parameter Description	Size	Access
90	Counter 2 MSB (bits 31 to 24)
91	Counter 2 (bits 23 to 16)	4 bytes	Limited
92	Counter 2 (bits 15 to 8)
93	Counter 2 LSB (bits 7 to 0)
94	Destination Register 1 MSB (bits 31 to 24)
95	Destination Register 1 (bits 23 to 16)	4 bytes	Full
96	Destination Register 1 (bits 15 to 8)
97	Destination Register 1 LSB (bits 7 to 0)
98	Destination Register 1 MSB (bits 31 to 24)
99	Destination Register 1 (bits 23 to 16)	4 bytes	Full
9A	Destination Register 1 (bits 15 to 8)
9B	Destination Register 1 LSB (bits 7 to 0)
9C	Distance 1 (when Position Mode enabled)	1 byte	Full
8D	Distance 2 (when Position Mode enabled)	1 byte	Full
86	Speed 1	1 byte	Full
87	Speed 2	1 byte	Full
A2	Time Base for speed computation of Encoder 1. Multiply	1 byte	Full
	this number by 256us to obtain the actual Time Base period.
A3	Time Base for speed computation of Encoder 2. Multiply	1 byte	Full
	this number by 256us to obtain the actual Time Base period.
A4	Encoder threshold level (see “Voltage Levels, Thresholds	1 byte	Full
	and Limit Switches” on page 136
A5	Distance divider	1 byte	Full
A6	Mode Selection	1 byte	Limited

Important Warning

Do not alter any other area locations as this may cause program execution failure inside the encoder module.

Register Description

Encoder Hardware ID code

Returns a 4-bit number identifying the encoder module hardware version and the status of two on-board jumpers. For Roboteq use only.

AX2500/2850 Motor Controller User’s Manual 147