User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
referenced (i.e. homing has been successfully completed). Set to greater than
positive software limit to disable. Units: counts.
0xBA 0xBB 0x4BA 0x2120 RF INT32 Position Tracking Error Limit. Also known as Tracking Error Window. If the Position
Loop Error (0x35) exceeds this value then the tracking error bit (bit 18) of the Drive
Event Status Register (0xA0) is set and the motor is stopped. Using Fault Mask
(0xA7), the tracking error event can be configured to either disable the drive
immediately, or abort the present move and continue holding position. Units: counts.
0xBB
0xBC
0x4BB
0x6065
RF
INT32
Position Tracking Warning Limit. If the Position Loop Error (0x35) exceeds this value
then the tracking warning bit (bit 19) of the Drive Event Status Register (0xA0) is set.
Units: counts.
0xBC
0xBD
0x4BC
0x6067
RF
INT32
Position Tracking Window Limit. If the Position Loop Error (0x35) exceeds this value
then the tracking window bit (bit 25) of the Drive Event Status Register (0xA0) is set.
Units: counts.
0xBD
0xBE
0x4BD
0x6068
RF
U16
Time Delay For Position Tracking Error Limit (0xBA). The tracking window bit (bit 25)
of the Drive Event Status Register (0xA0) will not be cleared until the Position Loop
Error (0x35) has been within the Position Tracking Error Limit (0xBA) for at least this
long. Units: ms.
0xBE
0xBF
0x4BE
0x2253
RF
U32
Software Limit Deceleration. The deceleration rate used to stop a motor when
approaching a software limit. Units: 10 counts/s
2
.
0xBF
0xC0
0x4BF
0x2351
RF
U16
Homing Current Delay Time (used with home to hard stop mode only). When
performing a home to hard stop, the amplifier will push against the stop for this long
before sampling the home position. Units: ms.
0xC0
0xC1
0x4C0
None
R*
INT16
Network Node ID. This is the drive’s present ID as read at system startup. The node
ID is only read at system startup, so this value will not change unless the drive is
reset. See Network Node ID Configuration (0xC1).
0xC1
0xC2
0x4C1
0x21B0
RF
INT16
Network Node ID Configuration. Defines how a drive’s node ID is calculated, and
specifies the drive’s network bit rate.
The ID is calculated at startup (and only at startup) using a combination of general-
purpose input pins and a programmed offset value. On certain models, an address
switch is also used. The resulting value is clipped to a 7-bit ID in the range 0 to 127.
Bit-mapped as follows:
Bits
Description
Copley Controls Page 42