RoboteQ AX2850 Computer Hardware User Manual


 
162 AX2550 Motor Controller Users Manual Version 1.9b. June 1, 2007
*9A
*9B - Least Significant Byte
These two 32-bit (4-bytes) registers are used to store the desired destination when the
controller is used in position mode. These registers should always be set using the mailbox
mechanism described above. See Using the Encoder to Track Position on page 81 for a
complete description of the position mode.
Distance 1 and 2
Address: *9C - Channel 1
*9D - Channel 2
These registers contain a signed 8-bit value (-127 to +127) that represents the distance
between the current counter position and the desired destination. This number is com-
puted using a formula described in section Using the Encoder to Track Position on
page 81.
Speed 1 and 2
Address: *9E - Channel 1
*8F - Channel 2
These registers contain a signed 8-bit value (-127 to +127) that represents the motor speed
relative to a maximum speed, which in turn depends on the number of encoder counts and
time base settings as described in Using the Encoder to Measure Speed on page 80.
Time Base 1 and 2
Address: *A2 - Channel 1
*A3 - Channel 2
These registers contain the timing information for measuring the speed. See Using the
Encoder Module to Measure Distance on page 80 for a detailed description.
Encoder Threshold
Address: *A4
This register contains a value that is used to detect a logic level 1 vs. a 0 at any of the 4
encoder input lines. The voltage threshold is computed as follows:
Voltage Threshold = 5V * Register Value / 255
See Voltage Levels, Thresholds and Limit Switches on page 76 for a detailed description.
Distance Divider
Address: *A5
This registers contain the divider ratio that is applied to the difference between the current
position and destination. See Using the Encoder Module to Measure Distance on
page 80 for a detailed description.