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10 AX2550 Motor Controller User’s Manual Version 1.9b. June 1, 2007
Default PID Gains 150
Joystick Min, Max and Center Values 150
Reading & Changing Operating Parameters at Runtime 151
Operating Modes Registers 152
Read/Change PID Values 152
PWM Frequency Register 153
Controller Status Register 153
Controller Identification Register 154
Current Amps Limit Registers 154
RS232 Encoder Command Set 155
Read Encoder Counter 155
Set/Reset Encoder Counters and Destination Registers 155
Read Speed 156
Read Distance 157
Read Speed/Distance 157
Read Encoder Limit Switch Status 157
Read / Modify Encoder Module Registers and Parameters 158
Register Description 160
Encoder Hardware ID code 160
Switch Status 160
Speed or Distance 1 or 2 160
Counter Read/Write Mailbox 161
Counter 1 and 2 161
Destination Register 1 and 2 161
Distance 1 and 2 162
Speed 1 and 2 162
Time Base 1 and 2 162
Encoder Threshold 162
Distance Divider 162
Counter Read Data Format 163
Encoder Testing and Setting Using the PC Utility 163
Automatic Switching from RS232 to RC Mode 165
Analog and R/C Modes Data Logging String Format 166
Data Logging Cables 166
Decimal to Hexadecimal Conversion Table 167
SECTION 14 Configuring the Controller using the Switches 171
Programming Methods 171
Programming using built-in Switches and Display 171
Entering Programming Mode 172
Changing parameters 173
The Special Case of Joystick Calibration 173
Restoring factory defaults 173
Exiting the Parameter Setting Mode 174
Programmable Parameters List 174