User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x68
0x69
0x468
0x2402
R*
INT32
Captured Index Position. Provides the position that the axis was in when an index
pulse was captured. Configured by setting bits in the Position Capture Control
Register (0x6C), and the status of the captured data can be checked in the Position
Capture Status Register (0x6D). Reading this variable resets bits 0 & 3 of the
Position Capture Status Register (0x6D). Units: counts.
0x69
0x6A
0x469
0x2232
R*
INT32
Unfiltered Motor Encoder Velocity. Units 0.1 counts/s.
0x6A
0x6B
0x46A
0x2113
RF
INT32
Commanded Current Ramp Limit. Setting this to zero disables slope limiting.
Units: mA/s.
0x6B
0x6C
0x46B
0x2108
RF
9 or 14
Velocity Loop Command Filter Coefficients. A bi-quad filter structure that acts on the
command input of the velocity loop just after velocity & acceleration limiting. 9 word
parameter, see Velocity Loop Filters in the CME 2 User Guide. 14 word parameter
(Plus product only), see Filter Coefficients (p. 73).
0x6C
0x6D
0x46C
0x2400
RF
INT16
Position Capture Control Register. Sets up position capture based on the index or
home input. Bit-mapped as follows:
Bits
Description
0
If set, the Captured Index Position (0x68) is captured on the falling edge of the index.
1
If set, the Captured Index Position (0x68) is captured on the rising edge of the index.
2 If set, a Captured Index Position (0x68) value will not be overwritten by a new position until it
has been read. If clear, new positions will overwrite old positions.
3, 4
Reserved.
5
If set, Captured Home Position (0x10A) will be captured on the active to inactive edge of the
home input switch. If clear, the home position will be captured on the inactive to active edge.
6
If set, Captured Home Position (0x10A) will not be overwritten by a new position until it has
been read.
If clear, new positions will overwrite old positions.
7 Reserved.
8
If set, enable high speed input position capture..
9
If set, don't overwrite high speed input capture positions.
10
If set, latch high speed position capture.
12
Clear actual position on every encoder index pulse.
0x6D
0x6E
0x46D
0x2401
R*
INT16
Position Capture Status Register. This register shows the current status of the
index/home capture mechanism. Bit-mapped as follows:
Copley Controls Page 23