RoboteQ Dual Channel Digital Motor Controller AX2550, User Manual, Page: 148 / 186

148 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007
Reply: 0 n
Where: n = switch status
The relationship between the value of n and the switch status is shown in the table below.
Extracting the status of a given switch from this number is easily accomplished in software
using masking.
Note that the 0 and 1 levels represent a Closed Switch and Open Switch status, respec-
tively.
Read / Modify Encoder Module Registers and Parameters
Description
These commands make it possible to examine and change parameters that are stored in
the Encoder’s module MCU RAM. While this command provides unrestricted access to up
to 256 memory locations, a small number of these locations should never be read or
altered. Parameter address and returned values are two digit Hexadecimal numbers (8-bit).
Important Note
Command character has been changed from “$” to “*” starting in version 1.7 of the
controller firmware.
Read parameter
Syntax: * mm
Reply: DD
Where mm = address location of parameter
DD = parameter value
TABLE 27. Reported value and switch status relationship
n Value
Switch
n Value
Switch
4 3 2 1 4 3 2 1
0 0 0 0 0 8 1 0 0 0
1 0 0 0 1 9 1 0 0 1
2 0 0 1 0 A 1 0 1 0
3 0 0 1 1 B 1 0 1 1
4 0 1 0 0 C 1 1 0 0
5 0 1 0 1 D 1 1 0 1
6 0 1 1 0 E 1 1 1 0
7 0 1 1 1 F 1 1 1 1