User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
40
The microstepper is controlled by the CANopen or EtherCAT interface.
41
Reserved
42
Simple micro-stepping mode. For diagnostic use only.
0x25
0x26
0x425
0x221E
R*
INT16
Limited Motor Current Command. Units: 0.01 A.
0x26
0x27
0x426
0x2313
RF
INT16
Analog Reference Input Deadband. Deadband window value applied to the analog
command input. Units: mV.
0x27
0x28
0x427
0x2381:1
RF
U16
Velocity Loop Proportional Gain (Vp).
0x28
0x29
0x428
0x2381:2
RF
U16
Velocity Loop Integral Gain (Vi).
0x29
0x2A
0x429
0x2230
R*
INT32
Velocity Loop Limited Velocity. This is the commanded velocity after it passes
through the acceleration and velocity limits and the velocity command filter. The
velocity error used by the loop is the difference between the actual velocity and this
value. Units: 0.01 RPM for Junus, microsteps/s for Stepnet in stepper mode, 0.1
encoder counts/s for all other products.
0x2A
0x2B
0x42A
None
R*
INT32
Velocity Loop Error.
0x2B
0x2C
0x42B
None
R*
INT32
Velocity loop Integral Sum.
0x2C 0x2D 0x42C 0x606B R* INT32 Commanded Velocity. Units: 0.01 RPM for Junus, microsteps/s for Stepnet in
stepper mode, 0.1 encoder counts/s for all other products.
0x2D
0x2E
0x42D
0x6062
R*
INT32
Commanded Position. Also known as Limited Position in CME. Units: counts.
0x2E
0x2F
0x42E
0x2381:3
RF
U16
Velocity Loop Acceleration Feed Forward. The acceleration command from the
trajectory generator is multiplied by this value and the result is added to the velocity
loop output.
0x2F
0x30
0x42F
0x2341
RF
INT32
Programmed Velocity Command. Only used in Programmed Velocity Mode (Desired
State (0x24) = 11) Units: 0.01 RPM for Junus, microsteps/s for Stepnet in stepper
mode, 0.1 encoder counts/s for all other products.
0x30
0x31
0x430
0x2382:1
RF
U16
Position Loop Proportional Gain (Pp).
0x31
0x32
0x431
0x2381:4
RF
INT16
Velocity Loop Shift Value. After the velocity loop is calculated, the result is right
shifted this many times to arrive at the commanded current value. This allows the
velocity loop gains to have reasonable values for high resolution encoders.
Copley Controls Page 15