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10 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
Acceleration 150
Input Switches Function 151
RC Joystick or Analog Deadband 152
Exponentiation on Channel 1 and Channel 2 152
Left/Right Adjust 152
Default Encoder Time Base 1 and 2 153
Default Encoder Distance Divider 153
Default PID Gains 154
Joystick Min, Max and Center Values 154
Reading & Changing Operating Parameters at Runtime 155
Operating Modes Registers 156
Read/Change PID Values 156
PWM Frequency Register 157
Controller Status Register 157
Controller Identification Register 158
Current Amps Limit Registers 158
RS232 Encoder Command Set 159
Read Encoder Counter 159
Set/Reset Encoder Counters and Destination Registers 159
Read Speed 160
Read Distance 161
Read Speed/Distance 161
Read Encoder Limit Switch Status 161
Read / Modify Encoder Module Registers and Parameters 162
Register Description 164
Encoder Hardware ID code 164
Switch Status 164
Speed or Distance 1 or 2 165
Counter Read/Write Mailbox 165
Counter 1 and 2 165
Destination Register 1 and 2 165
Distance 1 and 2 166
Speed 1 and 2 166
Time Base 1 and 2 166
Encoder Threshold 166
Distance Divider 166
RC Pulse Outputs Activation 167
Counter Read Data Format 167
Encoder Testing and Setting Using the PC Utility 168
Automatic Switching from RS232 to RC Mode 169
Analog and R/C Modes Data Logging String Format 170
Data Logging Cables 170
Decimal to Hexadecimal Conversion Table 171
SECTION 15 Configuring the Controller using the Switches 175
Programming Methods 175