Curtis 1222 - Page 67

Curtis 1222 Manual, os 15
63
2 9 J A N U A R Y 2 0 1 3 D R A F T
4a — MONITOR MENU: Position Feedback
Monitor Menu: POSITION FEEDBACK → Encoder Input
DISPLAY
VARIABLE RANGE DESCRIPTION
Encoder 3 Degrees -180.0° – 180.0° Encoder 3 degrees from home position.
from Home
-32768 – 32767 The steer motor rotating should change the
0x44C3 0x00
degrees; a move left of home position will
be in negative degrees and a move right of
home will be in positive degrees.
Encoder 4 Degrees
-180.0° – 180.0° Encoder 4 degrees from home position.
from Home
-32768 – 32767 The steer motor rotating should change the
0x44C4 0x00
degrees; a move left of home position will
be in negative degrees and a move right of
home will be in positive degrees.
Encoder 3 Counts -2147483648 – 2147483647 Encoder 3 counts from the home
from Home
-2147483648 – 2147483647 position. The steer motor rotating
0x441F 0x00
should change the counts; a move
left of home position will be
negative counts, and a move right
of home will be positive counts.
Encoder 4 Counts -2147483648 – 2147483647 Encoder 4 counts from the home
from Home
-2147483648 – 2147483647 position. The steer motor rotating
0x4473 0x00
should change the counts; a move
left of home position will be
negative counts, and a move right
of home will be positive counts.
Encoder 3
-180.0° – 180.0° Wheel position based on Encoder 3 counts.
Position (deg)
-32768 – 32767 Accuracy depends on the parameters
0x44D0 0x00
Encoder 3 Counts from Home and Center Off
-
set being configured correctly. This variable
is used in a supervision check (see code 56:
Wheel Position Supervision).
Encoder 3A On / Off Steer Motor Encoder 3A switch input On or Off
0x4434 0x00 On / Off (pin 31). This can be used to verify that phase A
of Steer Motor Encoder 3 is operating correctly.
Encoder 3B On / Off Steer Motor Encoder 3B switch input On or Off
0x4435 0x00 On / Off (pin 32). This can be used to verify that phase B
of Steer Motor Encoder 3 is operating correctly.
Encoder 4A On / Off Steer Motor Encoder 4A switch input On or Off
0x447C 0x00 On / Off (pin 26). This can be used to verify that phase A
of Steer Motor Encoder 4 is operating correctly.
Encoder 4B On / Off Steer Motor Encoder 4B switch input On or Off
0x447D 0x00 On / Off (pin 27). This can be used to verify that phase B
of Steer Motor Encoder 4 is operating correctly.