Current protection

<P style="MARGIN: 0px">sir, I have agv vehicle application using AX2850HE.
<P style="MARGIN: 0px"> 1.Given a target desired position i want to stop my vehicle before reaching the target (instanttaneously) without ESTOP. How can i do that.
<P style="MARGIN: 0px">2. Having Updated distination register,How can this new commnad be effected? will it active immediately or I need to give one more command to effect this change.
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<P style="MARGIN: 0px">3.What would be the maximum HP motor that can be safely connected with the AX2850HE without causing the current protection to trigger(except in extreme cases) with the 24VDC battery?. Do i need to use a seperate 12v battery for controller in case i have a 24V main battery?
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<P style="MARGIN: 0px">4. Will incremental Encoder will interface with this controller

Is it that when we read the encoder counter using command "?q" or "Qn", the data of counter is also stored in mail box and is also transmitted serially?

I am really confused as how to cause immediate stop of motors in case of position mode. This is because i need to read current counter value and load it in destination register which would take at least a milisecond. But by this time the counter would have changed to a new value and the motors are expected to move in opposite direction.

<P style="MARGIN: 0px">You are correct that ?Qn will read the value in the buffer and then send the values through the serial port. !Qn will then copy this value in the selected register.
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<P style="MARGIN: 0px">It is also correct that this is not instantaneous and that the counter will have moved by the time the value is copied.
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<P style="MARGIN: 0px">This will result in some overshoot and abrupt stopping. There is not much that can be done to avoid this if you select to operate the controller in position mode.
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<P style="MARGIN: 0px">For an AGV application, consider running the controller in speed mode.
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<P style="MARGIN: 0px">In speed mode, you can still use the counter and destination register to measure the distance from destination, but you are always in control of the motor speed and you can accelerate and stop anytime you want.
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<P style="MARGIN: 0px">In such a mode, you would poll the counter or the distance and use these values for deciding when destination is reached and stop at that point.