User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x15
0x16
0x415
0x221D
R*
INT16
Commanded Motor Current. This is the value that is presently being sent to the
current loop. It may come from the programmed value, analog reference, velocity
loop, etc. depending on the drive’s desired state. Units: 0.01 A.
0x17
0x18
0x417
0x6064
R
INT32
Actual Position. For dual encoder systems this is the load encoder position. See
Actual Motor Position (0x32) for motor encoder position. Units: Counts.
CANopen objects 0x6064 and 0x6063 hold the same value.
0x18
0x19
0x418
0x6069
R*
INT32
Actual Velocity. Units: 0.01 RPM for Junus, microsteps/s for Stepnet in stepper
mode, 0.1 encoder counts/s for all other products.
0x19
0x1A
0x419
0x2310
RF
INT32
Analog reference scaling factor. This value is used to scale the analog reference
input voltage to a command that will be used to drive the current or velocity loop
(depending on drive state).
When in current mode (Desired State (0x24) = 2), the value programmed specifies
the amount of current to be commanded when ten volts is applied to the analog
input. This value is input in 0.01 A units. For example, to command 12 amps at 10
volts the scaling factor would be 1200.
When in velocity mode (Desired State (0x24) = 12), the value programmed specifies
the commanded velocity corresponding to ten volts on the input. Units: 0.01 RPM for
Junus, microsteps/s for Stepnet in stepper mode, 0.1 encoder counts/s for all other
products.
When in position mode (Desired State (0x24) = 22 or 32), the value programmed
specifies the position (in encoder counts) that the drive will be commanded to for a
+10 volt input.
0x1A
0x1B
0x41A
0x2311
RF
INT16
Offset Value applied to analog reference input. Units: mV.
0x1B
0x1C
0x41B
0x2205
R*
INT16
Analog Encoder Sine Input Voltage. Also known as Sine Feedback Voltage.
Units: 0.1 mV.
0x1C
0x1D
0x41C
0x2206
R*
INT16
Analog Encoder Cosine Input Voltage. Also known as Cosine Feedback Voltage.
Units: 0.1 mV.
0x1D
0x1E
0x41D
0x2200
R*
INT16
Analog Reference Input Voltage. Also known as A/D Reference Input Voltage.
Units: mV.
0x1E
0x1F
0x41E
0x2201
R*
INT16
High Voltage A/D Reading. The voltage present on the high-voltage bus. Units: 100
mV.
Copley Controls Page 13