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8 AX2500/2850 Motor Controller User’s Manual Version 1.7. February 1, 2005
Apply Parameter Changes 97
Reset Controller 97
Optical Encoder Commands 97
Commands Acknowledge and Error Messages 97
Character Echo 97
Command Acknowledgement 98
Command Error 98
Watchdog time-out 98
RS-232 Watchdog 98
RS232 Accessible Parameter Table 99
Automatic Switching from RS232 to RC Mode 101
Analog and R/C Modes Data Logging String Format 102
Data Logging Cables 103
Decimal to Hexadecimal Conversion Table 104
SECTION 9 Analog Control and Operation 107
Mode Description 107
Connector I/O Pin Assignment (Analog Mode) 108
Connecting to a Voltage Source 109
Connecting a Potentiometer 109
Selecting the Potentiometer Value 110
Analog Deadband Adjustment 111
Power-On Safety 112
Under Voltage Safety 112
Data Logging in Analog Mode 112
SECTION 10 Closed Loop Position Mode 115
Mode Description 115
Selecting the Position Mode 115
Position Sensor Selection 116
Sensor Mounting 116
Potentiometer wiring 117
Using Optical Encoders in Position Mode 117
Sensor and Motor Polarity 117
Adding Safety Limit Switches 119
Using Current Limiting as Protection 120
Control Loop Description 120
PID tuning in Position Mode 122
SECTION 11 Closed Loop Speed Mode 123
Mode Description 123
Selecting the Speed Mode 123