RoboteQ AX3500 Important Note, Read / Modify Encoder Module Registers and Parameters, Switch

Reply:0n

Where: n = switch status

The relationship between the value of n and the switch status is shown in the table below. Extracting the status of a given switch from this number is easily accomplished in software using masking.

TABLE 30. Reported value and switch status relationship

		Switch					Switch
n Value					n Value
	4	3	2	1		4	3	2	1
0	0	0	0	0	8	1	0	0	0
1	0	0	0	1	9	1	0	0	1
2	0	0	1	0	A	1	0	1	0
3	0	0	1	1	B	1	0	1	1
4	0	1	0	0	C	1	1	0	0
5	0	1	0	1	D	1	1	0	1
6	0	1	1	0	E	1	1	1	0
7	0	1	1	1	F	1	1	1	1

Note that the 0 and 1 levels represent a Closed Switch and Open Switch status, respec- tively.

Read / Modify Encoder Module Registers and Parameters

Description

These commands make it possible to examine and change parameters that are stored in the Encoder’s module MCU RAM. While this command provides unrestricted access to up to 256 memory locations, a small number of these locations should never be read or altered. Parameter address and returned values are two digit Hexadecimal numbers (8-bit).

Important Note

Command character has been changed from “$” to “*” starting in version 1.7 of the controller firmware.

Read parameter
Syntax:	*mm
Reply:	DD
Where	mm= address location of parameter
	DD= parameter value

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