RoboteQ AX3500 Register Description, Encoder Hardware ID code, Switch Status, Important Warning

TABLE 31. Encoder Registers

Address	Parameter Description	Size	Access
*98	Destination Register 1 MSB (bits 31 to 24)
*99	Destination Register 1 (bits 23 to 16)	4 bytes	Full
*9A	Destination Register 1 (bits 15 to 8)
*9B	Destination Register 1 LSB (bits 7 to 0)
*9C	Distance 1 (when Position Mode enabled)	1 byte	Full
*8D	Distance 2 (when Position Mode enabled)	1 byte	Full
*86	Speed 1	1 byte	Full
*87	Speed 2	1 byte	Full
*A2	Time Base for speed computation of Encoder 1. Multiply	1 byte	Full
	this number by 256us to obtain the actual Time Base period.
*A3	Time Base for speed computation of Encoder 2. Multiply	1 byte	Full
	this number by 256us to obtain the actual Time Base period.
*A4	Encoder threshold level (see “Voltage Levels, Thresholds	1 byte	Full
	and Limit Switches” on page 81
*A5	Distance divider	1 byte	Full
*A6	Mode Selection	1 byte	Limited
*A8 to *AF	Pulse width on RC1 to RC8 outputs	1 byte	Full

Important Warning

Do not alter any other area locations, as this may cause program execution failure inside the encoder module.

Register Description

Encoder Hardware ID code

Address: *84

Returns a 4-bit number identifying the encoder module hardware version and the status of two on-board jumpers. For Roboteq use only.

Switch Status

Address: *85

Returns a 4 bit number (4 least significant bits of the byte), each representing the state of one of the limit switches when installed. The ?W command described at “Read Encoder Limit Switch Status” on page 161 is a preferred method for reading this information.

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