RoboteQ AX3500 Operating Modes Registers, Read/Change PID Values, Important Notice, Location

Serial (RS-232) Controls and Operation

TABLE 26. Runtime R/W Parameters list

Location	Function	R/W
^8B	Current Amps limit 1	R Only
^8C	Current Amps limit 2	R Only

Important Notice:

Do not write in the locations marked as Read Only. Doing so my cause Controller malfunction.

Operating Modes Registers

Address:	^80 - Channel 1
	^81 - Channel 2
Access:	Read/Write
Effective:	Instantly

Modifying the bits in the Operating Mode registers will change the controller’s operating modes on-the fly. Changes take effect at the controller’s next 16ms iteration loop. After reset, these bits get initialized according to the configuration contained in Flash.

Values are in Hexadecimal.Example: 00000101 = Hex 05

TABLE 27. Operating Modes Register Definition

Bit

7 to 3

2

1

0

Function

Not Used

0:Open Loop

1:Closed Loop

(when in Speed Mode)

0:Speed Mode

1:Position Mode

0:Analog Feedback

1:Encoder Feedback

Read/Change PID Values

Address: ^82 - P1 ^83 - I1 ^84 - D1 ^85 - P2 ^86 - I2 ^87 - D2

Access: Read/Write

Effective: Instantly

The Proportional, Integral and Derivative gain for each channel can be read and changed on- the-fly. This function also provides a mean for setting different PID values for each channel.

156 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007