User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x10E8 BP2-R: 2 axis Accelnet Plus Panel CAN resolver version
0x10F0
TE2: 2 axis Stepnet Plus Panel EtherCAT
0x1100
TP2: 2 axis Stepnet Plus Panel CAN
0x1110
BEL: 1 axis Accelnet Plus Panel EtherCAT
0x1118
BEL-R: 1 axis Accelnet Plus Panel EtherCAT resolver version
0x1120
BPL: 1 axis Accelnet Plus Panel CAN
0x1128 BPL-R: 1 axis Accelnet Plus Panel CAN resolver version
0x1130
TEL: 1 axis Stepnet Plus Panel EtherCAT
0x1150
SP4: 4 axis Stepnet Plus Module CAN
0xAE
0xAF
0x4AE
0x60F6:3
RF
INT16
Current Loop Offset. This value is added to the commanded motor current. It can
compensate for a directional bias affecting the current loop. Units: 0.01 A.
0xAF
0xB0
0x4AF
0x2420
RF
INT32
Miscellaneous Drive Options Register. Bit-mapped as follows:
Bits
Option
0
If set, input pins 1, 2, and 3 are pulled high on the drive. If clear, the pins are not pulled up.
This option is only available on the Junus drive.
1 Reserved.
2
If set, limit switch inputs will only abort a trajectory in progress, but will not affect current
output. If clear, limit switches limit current.
3 If set, save PDO configuration to a file in the CVM file system when a “Save to Flash”
command is received over the CANopen network. If clear, a PDO is not saved.
4
If set, a limit switch activation will be treated as a fault in the CANopen Status Word
(CANopen index 0x6041 as described in the CANopen Programmer’s Manual).
5-31
Reserved.
0xB0
0xB1
0x4B0
0x2260
R
INT16
Motor Phase Angle. Writes are only useful when running in diagnostic micro-stepping
mode. Units: degrees.
0xB1
0xB2
0x4B1
0x21C1
RF
INT16
Increment Rate For Phase Angle When In Micro Stepping Mode. Only used in
diagnostic micro-stepping mode. Desired State (0x24) = 42 (microstepping mode).
Units: degrees/s.
0xB2
0xB3
0x4B2
0x21C0
RF
U16
Commutation Mode. Also known as Phasing Mode. Controls the mechanism used by
the drive to compute the motor phasing angle. Determines what inputs the drive uses
to initialize and maintain the phase angle, as follows:
Value
Mode
Copley Controls Page 40