User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
position capture is enabled and the time is recent enough for the data to be
available. The calculated position may be read from Captured Position for High
Speed Position Capture. Units: microseconds.
0x111
0x112
0x511
0x2405
R*
INT 32
Captured Position for High Speed Position Capture. Units: counts.
0x112
0x113
0x512
0x2242
R
INT 32
Position Encoder Position. This is also the passive load position when used in
passive mode. Units: counts.
0x113
0x114
0x513
0x1015
RF
INT16
CANopen emergency inhibit time. Units: milliseconds.
0x114
0x115
0x514
0x2381:5
RF
U16
Velocity loop Drain (integral bleed). Modifies the effect of velocity loop integral gain.
The higher the Vi Drain value, the faster the integral sum is lowered. Range: 0 to 32K
Default: 0.
0x115
0x116
0x515
0x2010
R
5
Words
Trajectory buffer access. This object can be used to load data into the drive's internal
trajectory buffer, or send commands used to control the buffer. The trajectory buffer
holds trajectory segments used in PVT mode. Data passed to the parameter consists
of a 16-bit command code, followed by up to two 32-bit parameters. The first word
passed to this parameter is bit-mapped. The data contained in this word identifies
this access as either a buffer command, or a trajectory segment to be loaded into the
buffer. If the most significant bit of the first word is set, then the write is treated as a
command code. In this case no additional data is passed and the first word is
formatted as follows:
Bits
Description
0-7 Command data.
8-9
Command code.
10-14
Reserved.
15
Always set for buffer commands.
The following command codes are supported:
Code
Description
0
Clear the buffer and abort any move in progress.
1
Pop the N most recently sent segments off the buffer. PVT profiles will continue to run as
long as the buffer doesn't underflow. The number of segments to pop (N) is passed in the
command data area. If there are less than N segments on the buffer, this acts the same as a
buffer clear, except that the profile is not stopped except by underflow.
To write data to the trajectory buffer, the MSB of the first word should be clear. In this
case the first word is formatted as follows:
Copley Controls Page 55