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AX2500/2850 Motor Controller User’s Manual 9
Using Optical Encoder for Speed Feedback (AX2850 only) 124
Tachometer or Encoder Mounting 124
Tachometer wiring 124
Speed Sensor and Motor Polarity 125
Adjust Offset and Max Speed 126
Control Loop Description 127
PID tuning in Speed Mode 128
SECTION 12 Installing, Connecting and Using the Encoder Module 131
Optical Incremental Encoders Overview 131
Recommended Encoder Types 132
Installing the Encoder Module 133
Connecting the Encoder 135
Motor - Encoder Polarity Matching 136
Voltage Levels, Thresholds and Limit Switches 136
Wiring Optional Limit Switches 137
Using the Encoder Module to Measure Distance 138
Using the Encoder to Measure Speed 139
Using the Encoder to Track Position 140
RS232 Communication with the Encoder Module 141
RS232 Encoder Command Set 142
Read Encoder Counter 142
Set/Reset Encoder Counters and Destination Registers 143
Read Speed 143
Read Distance 144
Read Speed/Distance 144
Read Encoder Limit Switch Status 144
Read / Modify Encoder Module Registers and Parameters 145
Register Description 147
Encoder Hardware ID code 147
Switch Status 148
Speed or Distance 1 or 2 148
Counter Read/Write Mailbox 148
Counter 1 and 2 148
Destination Register 1 and 2 148
Distance 1 and 2 148
Speed 1 and 2 149
Time Base 1 and 2 149
Encoder Threshold 149
Counter Read Data Format 149
Encoder Testing and Setting Using the PC Utility 150
Encoder Module Parameters Setting 151
Exercising the Motors 152