RoboteQ AX500 manual Controller Identification Register, Current Amps Limit Registers

Serial (RS-232) Controls and Operation

The Controller Status Register can be polled at any time to see if there is a pending fault condition. Any one bit set will cause the controller to turn off the Power Output stage. Con- ditions marked as Temporary mean that the controller will resume operation as soon as the fault condition disappears. Permanent conditions will cause the controller to remain off until it is reset either by cycling power, pressing the reset button, or sending the %rrrrrr command.

TABLE 21. Controller Status Register Definition

Bit	Fault Condition	Effect
0	Overvoltage	Temporary
1	Overtemperature	Temporary
2	Undervoltage	Temporary
3	Manually Forced MOSFETs Off	Temporary
4	Unused
5	Confirmed Short Circuit	Permanent
6	Confirmed Encoder Error	Permanent
7	Emergency Stop Pressed	Permanent

Controller Identification Register

Address:	^8A
Access:	Read Only
Effective:	Instantly

This register may be used to query the Controller’s model and some of its optional hard- ware configurations.

TABLE 22. Controller Identification Register Definition

Bit Model or Function

0AX500

1AX1500

2AX2500

3AX3500

4Unused

5Encoder Present

6Short Circuit Detection Present

7Unused

Current Amps Limit Registers

Address:	^8B - Channel 1
	^8C - Channel 2
Access:	Read Only
Effective:	Instantly

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