RoboteQ AX2850 user manual 152

Default PID Gains			150
Joystick Min, Max and Center Values 150
Reading & Changing Operating Parameters at Runtime 151
Operating Modes Registers						152
Read/Change PID Values					152
PWM Frequency Register					153
Controller Status Register					153
Controller Identification Register							154
Current Amps Limit Registers 154
RS232 Encoder Command Set						155
Read Encoder Counter				155
Set/Reset Encoder Counters and Destination Registers 155
Read Speed	156
Read Distance		157
Read Speed/Distance				157
Read Encoder Limit Switch Status							157
Read / Modify Encoder Module Registers and Parameters 158
Register Description			160
Encoder Hardware ID code						160
Switch Status	160
Speed or Distance 1 or 2					160
Counter Read/Write Mailbox						161
Counter 1 and 2		161
Destination Register 1 and 2						161
Distance 1 and 2			162
Speed 1 and 2		162
Time Base 1 and 2			162
Encoder Threshold			162
Distance Divider		162

	Counter Read Data Format	163
	Encoder Testing and Setting Using the PC Utility				163
	Automatic Switching from RS232 to RC Mode 165
	Analog and R/C Modes Data Logging String Format 166
	Data Logging Cables 166
	Decimal to Hexadecimal Conversion Table			167
SECTION 14	Configuring the Controller using the Switches			171
	Programming Methods 171
	Programming using built-in Switches and Display				171
	Entering Programming Mode		172
	Changing parameters	173
	The Special Case of Joystick Calibration			173
	Restoring factory defaults 173
	Exiting the Parameter Setting Mode 174
	Programmable Parameters List		174

10 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007