User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
14 If set, then don't use this encoder for position feedback.
15
Reserved.
Original
encoding
(bit 12 not set):
0-3
Encoder hardware to use:
0
No load encoder present.
1
Primary (differential) quad encoder.
2 Analog encoder.
3
Secondary quad encoder from input lines.
4
Servo tube / analog halls.
5
Resolver
11
Endat absolute encoder
12
SSI serial encoder.
13
BiSS absolute encoder.
14
Various absolute encoders made by Sanyo Denki, Panasonic and Harmonic Drives.
15 Harmonic Drives custom encoder.
4
Linear encoder if set, rotary encoder if clear.
5
If set, then don't use this encoder for position feedback.
6-15
Must be zero.
0x5E
0x5F
0x45E
0x2231
R*
INT32
Load Encoder Velocity. Units: 0.1 encoder counts/s
0x5F
0x60
0x45F
0x2106
RF
9 or 14
Velocity Loop Output Filter. A bi-quad filter which acts on the output of the velocity
loop. 9 word parameter, see Velocity Loop Filters in the CME 2 User Guide. 14 word
parameter (Plus product only), see Filter Coefficients (p. 73).
0x60
0x61
0x460
0x2383:20
F
U16
Motor Encoder Type:
Value Meaning
0
Primary (differential) quad encoder.
1
No encoder (use motor back EMF for velocity estimation).
2
Analog encoder.
3
Secondary quad encoder from input lines.
4
Low frequency analog encoder.
5
Resolver.
6 Use digital hall signals for position & velocity estimates.
Copley Controls Page 21