RoboteQ AX2550/2850 user manual Encoder Testing and Setting Using the PC Utility, FFFFFF15

Installing, Connecting and Using the Encoder Mod-

TABLE 26. Example counter values and RS232 output using reduction scheme

Decimal	32-bit Hex	Controller Output
-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 159.

Once the utility is up and running and the controller found and identified, click on the

“Encoder” tab to bring up the Encoder configuration and setup screen show in Figure 90 below.

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7

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FIGURE 90. Encoder setup and test screen on Roborun

With this utility, the following actions can be accomplished:

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