encoder limit switch

13 years 6 months ago #23391465 by gregs
encoder limit switch was created by gregs
Hi there,
I have a AX3500 sw rev v1.9d 10/23/07 hw code 0-3-3 encoder id v1.7 02/01/05 and using roborun v.1.9d 10/23/07.

I am attempting to use the controller in closed loop speed and then position mode with limit switches wired into the encoder per instructions in the manual ax3500man19b-060107, using only chanel1 to start with.

Using roborun encoder tab i can see that when closing either of the limit switches the switch1 or switch2 changes state from red to black. And when i wind the motor by hand without the switches closed the counter inc/dec as expected with no change to the switch status. When i close one of the limit switches and wind the motor by hand the limit switch status updates with no inc/dec on the counter. Using the roborun console sending ?w i recieve 0F, or 0D, or 0D with open / closed switches. This is all as expected and documented in the manual.

However, closing either of the limit switches does not stop power to the motors in any direction. I notice that on the roborun controls tab there is no "limit switches" check box as shown on page 185 fig 103 of the manual. Is there a way to set this via the serial com, i don't see any way documented in the manual. Also, on the roborun encoder tab, motors command field, the slider bars are not as the previous rev v1.7 and i am unable to get any motor activity using them.

Thanks
Greg

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13 years 6 months ago #23473753 by cosma
Replied by cosma on topic Re:encoder limit switch
Enable/Disable is bit 4 of the parameter at address 04.

Setting it enables the limit switches.

To change, read the existing parameter with the

^04 command

Do a logical OR with the byte 08 (bit 3 set) and store that value back in the ^04 space.

If you are not using the controller's digital inputs, you can just store 08 in location 04 with the following command:

^04 08

We are aware of the problem with roborun when trying to move the motors with the sliders. We will be addressing shortly.

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13 years 5 months ago #23802687 by gregs
Replied by gregs on topic Re:encoder limit switch
Thanks,
I set bit 3 and it worked

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13 years 5 months ago #23981454 by cosma
Replied by cosma on topic Re:encoder limit switch

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