where x:
hexadecimal
value
representing
a 16-bit integer. Each integer is the
output of a particular A/D converter channel. What each value rep-
resents in terms of a system voltage depends on the system ca-
bling. The A/D converter is a 12-bit device; the 12-bits are stored
in the lower 12 of the 16-bit value, and the upper 4 bits are sign-
extended. The format of the value is 2's complement.
Example commands: @8TCH R2<cr><lf>
@8TCH 2 R<cr><lf>
@8TCH 8 R<cr><lf>
Example responses: @8<ack>F000,3450,<cr><lf>
@8<ack>4308,<cr><lf>
@8<ack>A30B,<cr><lf>
A.2.6
Servo Loop Messages
A.2.6.1
Filter Parameters Command
Command format:
@8FIL cd R<cr><lf>
or
@8FIL cd Wx,y,z<cr><lf>
Parameters:
c:
selected axis; 'A' - 'D'. Must be specified.
d:
filter number according to the list in paragraph A.3.
x:
filter Smax; this number only applies to position loop filters and is
in floating point degrees. Any input signal to the filter (i.e., posi-
tion error) exceeding this value will cause the filter to automati-
cally switch to Type I operation (if not already in Type I).
y:
filter gain; this is the overall filter gain in dB using a floating point
format.
z:
filter offset; this is the offset applied to the output of the filter in
degrees using a floating point format.
Response:
@8<ack>x,y,z<cr><lf>
for read
@8<ack><cr><lf>
for write
3862 Autotrack Controller
A-25
REMOTE INTERFACE COMMANDS
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