RoboteQ AX1500, AX2550 Reading & Changing Operating Parameters at Runtime, Definition, See pages

Reading & Changing Operating Parameters at Runtime

^1C - Joystick Max 2 MS ^1D - Joystick Max 2 LS

Effective: Instantly

These parameters are the Gains values that are loaded after the controller is reset or pow- ered on. These Gains apply to both channels. Gains can be changed at Runtime, and values can be different for each channel using separate commands (see page 142).

Gains values are integer number from 0 to 63. This number is divided by 8 internal so that each increment equals 0.125.

Bit	Definition	See pages
7:0	8 bit value. Two registers used to form one 16 bit	page 110
	number for each Joystick parameter.
	Default values (in decimal):
	Min = 4400
	Center = 1600
	Max = 3200

Reading & Changing Operating Parameters at Runtime

It is possible to change several of the controller’s operating modes, on-the-fly during nor- mal operation. Unlike the Configuration Parameters that are stored in Flash (see above), the Operating Parameters are stored in RAM and can be changed indefinitely. After reset, the Operating Parameters are loaded with the values stored in the Configuration Parameter flash. They are then changed using RS232 commands.

Use the command following commands to Read/Change the Operating Modes

Syntax: ^mm Read Parameters at location mm

^mm DD Write Parameters DD in location DD

mmand DD are Hexadecimal values. The table below lists the available parameters

TABLE 23. Runtime R/W Parameters list

Location	Function	R/W
^80	Channel 1 Operating Modes	R/W
^81	Channel 2 Operating Modes	R/W
^82	PID Proportional gain 1	R/W
^83	PID Proportional gain 2	R/W
^84	PID Integral gain 1	R/W
^85	PID Integral gain 2	R/W

AX1500 Motor Controller User’s Manual 141