RoboteQ AX2550/2850 user manual 124

Using Optical Encoder for Speed Feedback (AX2850 only) 124
Tachometer or Encoder Mounting		124
Tachometer wiring 124
Speed Sensor and Motor Polarity		125
Adjust Offset and Max Speed 126
Control Loop Description	127
PID tuning in Speed Mode	128

SECTION 12	Installing, Connecting and Using the Encoder Module 131
	Optical Incremental Encoders Overview			131
	Recommended Encoder Types	132
	Installing the Encoder Module	133
	Connecting the Encoder 135
	Motor - Encoder Polarity Matching		136
	Voltage Levels, Thresholds and Limit Switches				136
	Wiring Optional Limit Switches	137
	Using the Encoder Module to Measure Distance				138
	Using the Encoder to Measure Speed			139
	Using the Encoder to Track Position		140

RS232 Communication with the Encoder Module 141

RS232 Encoder Command Set 142

Read Encoder Counter 142

Set/Reset Encoder Counters and Destination Registers 143

Read Speed 143

Read Distance 144

Read Speed/Distance 144

Read Encoder Limit Switch Status 144

Read / Modify Encoder Module Registers and Parameters 145

Register Description		147
Encoder Hardware ID code				147
Switch Status	148
Speed or Distance 1 or 2			148
Counter Read/Write Mailbox				148
Counter 1 and 2 148
Destination Register 1 and 2				148
Distance 1 and 2		148
Speed 1 and 2	149
Time Base 1 and 2		149
Encoder Threshold		149
Counter Read Data Format			149

Encoder Testing and Setting Using the PC Utility 150

Encoder Module Parameters Setting 151

Exercising the Motors 152

AX2500/2850 Motor Controller User’s Manual 9