Input Switches EStop config incorrect?

It seems that the system I am running is behaving differently than the User manual suggests with regard to the EStop input. The firmware and Manual I have are listed below:

I have an AX2550 with the following firmware:
RoboteQ v1.9d 10/23/07
{
RoboEnc v1.7 02/01/05
03
OK

I believe I have the latest manual (dev.roboteq.com/dev1/documentation.html) AX2550 Motor Controller Users Manual Version 1.9b June 1, 2007.

If I look up the Input Switches Function definition on page 147 of the manual it says that enabling EStop requires the first 2 bits to be set to a 01 (binary). However, testing of the unit shows that EStop is only active for the 00 setting (the default and the manual says Input Disabled) and disabled for the 01 setting?

Can someone else who is using the EStop functionality comment on their settings?

We are monitoring the settings of the device and its EStop condition using the actual EStop input bit (using ?I), the Status Register (^89), looking at the controller AlphaNumeric display to monitor the estop condition, and verifying the configuration parameter (^04) using hyperterminal.

Thanks
Bryan

00 is the correct setting for Estop to be enabled.
02 is the value needed to enable Estop.

The manual has an error. We will fix it at the next release.

I'm sorry, but I don't understand your response?

>>00 is the correct setting for Estop to be enabled.
Ok, so you are saying our observation is correct for the first 2 bits of the Input Switches Function.

>>02 is the value needed to enable Estop.
I have no idea what you are referring to here?

>>The manual has an error. We will fix it at the next release.
Thank you.

Bryan

storing 02 at that location will cause the estop to be enabled

I stored an 02 at that location (^04 02) and it didn't set the controller into the Estop state. It simply changed its configuration.

Could you provide me with the entire command string you are suggesting will put the controller into an EStop state?

Thanks
Bryan

Puting the 02 only serves to enable the estop input on the DB15 connector.

If you want that the controller enters in estop mode under software control then you could use the 02 setting but you would have to have the estop input wired to ground.

Note that the "02" config is meant to enable the estop input, not to force the controller in estop under software control. Sending a command to stop the motors (!a00, !b00) is a far simpler and efficient way to do achieve the same.

Ok, I think i have it now..

Input Switches function ^04
For bits 1:0
00 - Input as Emergency Stop
01 - Input disabled
10 - Input Enabled as normal input
11 - Input as invert command

I was never trying to force the controller into estop via software. I just didn't understand your responses.

Thanks