RoboteQ AX1500, AX2550 user manual Section

	Recommended Encoder Types			68
	Installing the Encoder Module			69
	Connecting the Encoder		70
	Cable Length and Noise Considerations					71
	Motor - Encoder Polarity Matching				72
	Voltage Levels, Thresholds and Limit Switches 72
	Wiring Optional Limit Switches			73
	Wiring Limit Switches Without Encoders					75
	Effect of Limit Switches		75
	Using the Encoder Module to Measure Distance						76
	Using the Encoder to Measure Speed 76
	Using the Encoder to Track Position				77
	RS232 Communication with the Encoder Module						78
	Encoder Testing and Setting Using the PC Utility						79
SECTION 8	Closed Loop Position Mode		81
	Mode Description	81
	Selecting the Position Mode 81
	Position Sensor Selection		82
	Sensor Mounting	82

	Feedback Potentiometer wiring					83
	Feedback Potentiometer wiring in RC or RS232 Mode 83
	Feedback Potentiometer wiring in Analog Mode 84
	Analog Feedback on Single Channel Controllers 85
	Feedback Wiring in RC or RS232 Mode on Single Channel
	Controllers	85
	Feedback Wiring in Analog Mode on Single Channel
	Controllers	85
	Using Optical Encoders in Position Mode							86
	Sensor and Motor Polarity				86
	Encoder Error Detection and Protection							87
	Adding Safety Limit Switches					87
	Using Current Limiting as Protection 89
	Control Loop Description			89
	PID tuning in Position Mode				90
SECTION 9	Closed Loop Speed Mode			93
	Mode Description		93
	Selecting the Speed Mode				93
	Tachometer or Encoder Mounting						94
	Tachometer wiring		94
	Speed Sensor and Motor Polarity						95

AX1500 Motor Controller User’s Manual 7