RoboteQ AX2850 - Manual (Page 159)

AX2550 Motor Controller User’s Manual 159
RS232 Encoder Command Set
Example:
*84
Read value of parameter at address hex 84
01 Controller replies, value is 01
Modify parameter
Syntax: *mm nn
Reply: + if command was executed successfully
- if error
Where mm= parameter address
nn= new parameter value
Examples:
*84 03
Store 03 into parameter at address hex 84
Notes:
All parameters and values are expressed with 2 hexadecimal digits.
The table below lists maps the few relevant parameters that can be accessed using this
command.
TABLE 31. Encoder Registers
Address Parameter Description Size Access
*84 Encoder Hardware ID Code 1 byte Full
*85 Switches Status 1 byte Full
*86 Speed or Distance 1 (depending on operating mode) 1 byte Full
*87 Speed or Distance 2 (depending on operating mode) 1 byte Full
*88 Counter Read/Write Mailbox MSB (bits 31 to 24)
4 bytes Full *89 Counter Read/Write Mailbox (bits 23 to 16)
*8A Counter Read/Write Mailbox (bits 15 to 8)
*8B Counter Read/Write Mailbox LSB (bits 7 to 0)
*8C Counter 1 MSB (bits 31 to 24)
4 bytes Limited *8D Counter 1 (bits 23 to 16)
*8E Counter 1 (bits 15 to 8)
*8F Counter 1 LSB (bits 7 to 0)
*90 Counter 2 MSB (bits 31 to 24)
4 bytes Limited *91 Counter 2 (bits 23 to 16)
*92 Counter 2 (bits 15 to 8)
*93 Counter 2 LSB (bits 7 to 0)
*94 Destination Register 1 MSB (bits 31 to 24)
4 bytes Full *95 Destination Register 1 (bits 23 to 16)
*96 Destination Register 1 (bits 15 to 8)
*97 Destination Register 1 LSB (bits 7 to 0)