User`s manual

164 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007

Important Warning

Do not alter any other area locations, as this may cause program execution failure

inside the encoder module.

Encoder Hardware ID code

Address: *84

Returns a 4-bit number identifying the encoder module hardware version and the status of

two on-board jumpers. For Roboteq use only.

Switch Status

Address: *85

Returns a 4 bit number (4 least significant bits of the byte), each representing the state of

one of the limit switches when installed. The ?W command described at “Read Encoder

Limit Switch Status” on page 161 is a preferred method for reading this information.

98 Destination Register 1 MSB (bits 31 to 24)

4 bytes Full99 Destination Register 1 (bits 23 to 16)

9A Destination Register 1 (bits 15 to 8)

9B Destination Register 1 LSB (bits 7 to 0)

9C Distance 1 (when Position Mode enabled) 1 byte Full

8D Distance 2 (when Position Mode enabled) 1 byte Full

86 Speed 1 1 byte Full

87 Speed 2 1 byte Full

A2 Time Base for speed computation of Encoder 1. Multiply

this number by 256us to obtain the actual Time Base period.

1 byte Full

A3 Time Base for speed computation of Encoder 2. Multiply

this number by 256us to obtain the actual Time Base period.

1 byte Full

A4 Encoder threshold level (see “Voltage Levels, Thresholds

and Limit Switches” on page 81

1 byte Full

A5 Distance divider 1 byte Full

A6 Mode Selection 1 byte Limited

A8 to AF Pulse width on RC1 to RC8 outputs 1 byte Full

TABLE 31.

Address Parameter Description Size Access