User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x4C
0x4D
0x44C
0x2383:14
F
INT32
Motor Continuous Torque. Units: 0.00001 Nm units.
0x4D
0x4E
0x44D
0x2383:11
F
INT32
Motor Max Velocity. Units: 0.1 encoder counts/s.
0x4E
0x4F
0x44E
0x2383:3
F
U16
Motor Wiring. 0=standard, 1= drive’s U and V outputs are swapped.
0x4F
0x50
0x44F
0x2383:6
RF
INT16
Motor Hall Offset. Offset angle to be applied to the Hall sensors. Units: degrees.
0x50
0x51
0x450
0x2383:4
F
INT16
Motor Hall Type.
The type of Hall effect sensors attached to the motor:
Value
Description
0
No Hall sensors available.
1
Digital Hall sensors.
2
Analog Hall sensors.
0x52
0x53
0x452
0x2383:5
F
INT16
Motor Hall Wiring. Bit-mapped as follows:
NOTE: When analog Halls are used, only bit 8 is relevant.
Bits
Description
0-2
The Hall wiring code (see below).
Value
Hall Ordering
0
U V W
1 U W V
2
V U W
3
V W U
4
W V U
5
W U V
6, 7
Reserved
3 Reserved.
4
Invert W Hall input if set. Inversion occurs after Halls wiring is changed by bits 0-2.
5
Invert V Hall input if set. Inversion occurs after Halls wiring is changed by bits 0-2.
6
Invert U Hall input if set. Inversion occurs after Halls wiring is changed by bits 0-2.
7
Reserved.
8
Reverse analog Halls if set.
9-15 Reserved.
Copley Controls Page 18