RoboteQ AX500 manual Operating Modes Registers, Location Function, Bit Function

Serial (RS-232) Controls and Operation

The table below lists the available parameters

TABLE 19. Runtime R/W Parameters list

Location	Function	R/W
^80	Channel 1 Operating Modes	R/W
^81	Channel 2 Operating Modes	R/W
^82	PID Proportional gain 1	R/W
^83	PID Proportional gain 2	R/W
^84	PID Integral gain 1	R/W
^85	PID Integral gain 2	R/W
^86	PID Differential gain 1	R/W
^87	PID Differential gain 2	R/W
^88	PWM frequency	R/W
^89	Controller Status	R Only
^8A	Controller Model	R Only
^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 20. Operating Modes Register Definition

Bit

7 to 3

2

Function

Not Used

0:Open Loop

1:Closed Loop

(when in Speed Mode)

120 AX500 Motor Controller User’s Manual Version 1.9b. June 1, 2007