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168 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
ahead of any number string starting with a digit value lower than 8 (i.e. 0 to 7). The table
below shows examples of this scheme as applied to various counter values.
When reading the counter value into a microcomputer, the reverse operation must take
place: any output that is less than 8 digit long must be completed with a string of 0’s if the
first digit is of value 0 to 7, or with a string of F’s if the first digit is of value 8 to F.
The resulting Hex representation of a signed 32-bit number must then be converted to
binary or decimal as required by the application.
The burden of this extra processing is more than offset by the bandwidth relief on the con-
troller’s serial port.
Encoder Testing and Setting Using the PC Utility
Extensive diagnostic, calibration, setting and testing support is provided in the Roborun PC
utility. Basic instructions on how to install and run the PC utility can be found in “Using the
Roborun Configuration Utility” on page 181
TABLE 33. Example counter values and RS232 output using a reduction scheme
Decimal 32-bit Hex Controller Output
+5 00000005 5
+250 000000FA 0FA
-6 FFFFFFFA A
-235 FFFFFF15 F15
+91,011,186 056CB872 56CB872
-7,986,091 FF862455 862455