User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
If bit 31 is zero, then a default bit mapping is used and the rest of this register is
ignored. The default bit mapping uses the top N input pins and maps them such that
the high numbered pins are used for higher numbered bits in the ID. For example;
the Accelnet panel drive has 12 general-purpose input pins (0 to 11). If 3 of these
pins are used for ID configuration and the default mapping is used, then the highest
3 pins (9, 10 and 11) will be used for the ID. In this case, pin 9 will be bit 0, pin 10 will
be bit 1, and pin 11 will be bit 2.
If bit 31 is set, then the rest of this register will be used to define which input pin will
be assigned to which bit of the ID. The input pins are numbered from 0 to 15 and
each nibble of the register gives the input pin number associated with one bit of the
ID.
For example, if three input pins are configured for address selection and the mapping
register is set to 0x80000012, then input pin 2 will be used for ID bit 0, input pin 1 will
be used for ID bit 1, and input pin 0 will be used for ID bit 2.
Note that the CAN node ID is calculated at startup only. The input pins assigned to
the node ID will be sampled once during power up and used to calculate the ID.
These pins may be assigned other uses after power up if necessary.
0x104
0x105
0x504
0x21C4
RF
INT16
Algorithmic Phase Initialization Config. See code 5 of Commutation Mode (0xB2).
This parameter is bit-mapped as follows:
Bits Meaning
0
If clear, use algorithmic phase initialization. If set, force the phase angle to zero degrees.
1
If set, increment the initial phase angle by 90 degrees on each failed attempt.
2
If set, use Motor Hall Offset (0x4F) as the initial angle for the first phase initialization attempt.
If clear, the first phase angle is zero.
3 Ignore limit switches during phase initialization if the switch is configured as trajectory based.
Available in Feature set C only.
4-15
Reserved.
0x105
0x106
0x505
0x2360
RF
U16
Camming Configuration. Bit-mapped as follows.
For more information, see the Copley Camming User Guide.
Bits
Description
0-3
ID Number of the Cam Table to use (0-9).
4
Reserved.
Copley Controls Page 52