User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x32
0x33
0x432
0x2240
R*
INT32
Actual Motor Position. Also known as Motor Encoder Position. For dual encoder
systems, this parameter gives the motor encoder position. For single encoder
systems, this is the same as the Actual Position Parameter (0x17). Units: counts.
0x33
0x34
0x433
0x2382:2
RF
U16
Position Loop Velocity Feed Forward (Vff). The Vff value is multiplied by the
Instantaneous Commanded Velocity (0x3B).generated by the trajectory generator.
The product is added to the output of the position loop.
This gain is scaled by 1/16384. Therefore, setting this gain to 0x4000 (16384) would
cause the input velocity to be multiplied by 1.0, and the result added to the output of
the position loop.
0x34
0x35
0x434
0x2382:3
RF
U16
Position Loop Acceleration Feed Forward (Aff). The Aff value is multiplied by the
Instantaneous Commanded Velocity (0x3B) generated by the trajectory generator.
The product is added to the output of the position loop.
0x35
0x36
0x435
0x60F4
R*
INT32
Position Loop Error. The difference between Actual Position (0x17) and Commanded
Position (0x2D). Units: counts.
0x36
0x37
0x436
0x2100
RF
U32
Velocity Loop Acceleration Limit. Used by the velocity loop limiter. Not used when
velocity loop is controlled by the position loop. Units: 1000 counts/s
2
.
0x37
0x38
0x437
0x2101
RF
U32
Velocity Loop Deceleration Limit. Used by the velocity loop limiter. Not used when
velocity loop is controlled by the position loop. Units: 1000 counts/s
2
.
0x38
0x39
0x438
0x221C
R*
INT16
Actual Motor Current. This current is calculated based on both the D and Q axis
currents. Units: 0.01 A.
0x39
0x3A
0x439
0x2102
RF
U32
Velocity Loop Emergency Stop Deceleration Rate.
Units: 1000 counts/s
2
.
0x3A 0x3B 0x43A 0x2103 RF INT32 Velocity Loop Velocity Limit. This value is a limit on the commanded velocity used by
the velocity loop. Note that this limit is always in effect. Units 0.1 counts/s.
0x3B 0x3C 0x43B 0x2250 R* INT32 Instantaneous Commanded Velocity. This velocity is the output of the trajectory
generator and is the value by which the position loop’s velocity feed forward is
multiplied. Units: 0.1 encoder counts/s.
0x3C
0x3D
0x43C
0x2251
R*
U32
Instantaneous Commanded Acceleration. This acceleration is the output of the
trajectory generator and is the value by which the position loop’s acceleration feed
forward is multiplied. Units: 10 encoder counts/s
2
.
Copley Controls Page 16