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AX2500/2850 Motor Controller User’s Manual 147
Register Description
Important Warning
Do not alter any other area locations as this may cause program execution failure
inside the encoder module.
Register Description
Encoder Hardware ID code
Returns a 4-bit number identifying the encoder module hardware version and the status of
two on-board jumpers. For Roboteq use only.
90 Counter 2 MSB (bits 31 to 24)
4 bytes Limited91 Counter 2 (bits 23 to 16)
92 Counter 2 (bits 15 to 8)
93 Counter 2 LSB (bits 7 to 0)
94 Destination Register 1 MSB (bits 31 to 24)
4 bytes Full95 Destination Register 1 (bits 23 to 16)
96 Destination Register 1 (bits 15 to 8)
97 Destination Register 1 LSB (bits 7 to 0)
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 136
1 byte Full
A5 Distance divider 1 byte Full
A6 Mode Selection 1 byte Limited
TABLE 25.
Address Parameter Description Size Access