RoboteQ AX2850 user manual Distance 1, Speed 1, Time Base 1, Encoder Threshold, Distance Divider

*9A

*9B - Least Significant Byte

These two 32-bit (4-bytes) registers are used to store the desired destination when the controller is used in position mode. These registers should always be set using the mailbox mechanism described above. See “Using the Encoder to Track Position” on page 81 for a complete description of the position mode.

Distance 1 and 2

Address:	*9C - Channel 1
	*9D - Channel 2

These registers contain a signed 8-bit value (-127 to +127) that represents the distance between the current counter position and the desired destination. This number is com- puted using a formula described in section “Using the Encoder to Track Position” on page 81.

Speed 1 and 2

Address:	*9E - Channel 1
	*8F - Channel 2

These registers contain a signed 8-bit value (-127 to +127) that represents the motor speed relative to a maximum speed, which in turn depends on the number of encoder counts and time base settings as described in “Using the Encoder to Measure Speed” on page 80.

Time Base 1 and 2

Address:	*A2 - Channel 1
	*A3 - Channel 2

These registers contain the timing information for measuring the speed. See “Using the Encoder Module to Measure Distance” on page 80 for a detailed description.

Encoder Threshold

Address: *A4

This register contains a value that is used to detect a logic level 1 vs. a 0 at any of the 4 encoder input lines. The voltage threshold is computed as follows:

Voltage Threshold = 5V * Register Value / 255

See “Voltage Levels, Thresholds and Limit Switches” on page 76 for a detailed description.

Distance Divider

Address: *A5

This registers contain the divider ratio that is applied to the difference between the current position and destination. See “Using the Encoder Module to Measure Distance” on page 80 for a detailed description.

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