User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0xEE
0xEF
0x4EE
0x21D6
RF
INT16
Stepper Configuration & Status. Bit-mapped as follows:
Bits
Description
0
Use the encoder input for phase compensation if enabled. Pure stepper mode if disabled.
1 Use on outer position loop to adjust the stepper position based on Position Loop Error
(0x35). When this bit is set, the gain value Maximum Velocity Adjustment (0xE6) is multiplied
by the Position Loop Error (0x35), and the result is a velocity that is added to the
microstepping position.
2-15 Reserved.
0xF0
0xF1
0x4F0
0x2195:1
RF
U16
Debounce Time For Input 0. Units: ms.
0xF1 0xF2 0x4F1 0x2195:2 RF U16 Debounce Time For Input 1. Units: ms.
0xF2
0xF3
0x4F2
0x2195:3
RF
U16
Debounce Time For Input 2. Units: ms.
0xF3
0xF4
0x4F3
0x2195:4
RF
U16
Debounce Time For Input 3. Units: ms.
0xF4
0xF5
0x4F4
0x2195:5
RF
U16
Debounce Time For Input 4. Units: ms.
0xF5
0xF6
0x4F5
0x2195:6
RF
U16
Debounce Time For Input 5. Units: ms.
0xF6
0xF7
0x4F6
0x2195:7
RF
U16
Debounce Time For Input 6. Units: ms.
0xF7
0xF8
0x4F7
0x2195:8
RF
U16
Debounce Time For Input 7. Units: ms.
0xF8
0xF9
0x4F8
0x2195:9
RF
U16
Debounce Time For Input 8. Units: ms.
0xF9
0xFA
0x4F9
0x2195:10
RF
U16
Debounce Time For Input 9. Units: ms.
0xFA
0xFB
0x4FA
0x2195:11
RF
U16
Debounce Time For Input 10. Units: ms.
0xFB
0xFC
0x4FB
0x2195:12
RF
U16
Debounce Time For Input 11. Units: ms.
0xFC
0xFD
0x4FC
0x2195:13
RF
U16
Debounce Time For Input 12. Units: ms.
0xFD
0xFE
0x4FD
0x2195:14
RF
U16
Debounce Time For Input 13. Units: ms.
0xFE
0xFF
0x4FE
0x2195:15
RF
U16
Debounce Time For Input 14. Units: ms.
0xFF
0x100
0x4FF
0x2195:16
RF
U16
Debounce Time For Input 15. Units: ms.
0x100
0x101
0x500
0x2184
RF
U32
CANopen Limit Status Mask. This parameter defines which bits in the Drive Event
Status Register (0xA0) can set the limit bit (bit 11) of the CANopen Status Word
(CANopen index 0x6041 as described in the CANopen Programmer’s Manual). If a
Drive Event Status Register (0xA0) bit and its corresponding Limit Mask bit are both
set, then the CANopen Status Word limit bit is set. If all selected Drive Event Status
Copley Controls Page 49