User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
Bits Description
0-7
Segment time in milliseconds.
8-11
Reserved.
12
Set for relative positions; clear for absolute positions.
13-14
Reserved.
15
Always zero for data writes.
When writing a new PVT segment to the trajectory buffer, this first word is always
followed by a 32-bit position value. The position is specified in units of encoder
counts and can be interpreted as either absolute or relative based on bit 12 of the
command word.
Optionally, the position can be followed by a 32-bit velocity value. Velocity is
specified in units of 0.1 encoder counts / second. If the velocity is
supplied, then the drive will use cubic polynomial interpolation between points when
running the trajectory (PVT mode). If velocity is not supplied, then linear interpolation
will be used (PT mode). It's legal to mix PVT and PT segments within the same
move.
Reading this parameter always returns three words of status information about the
trajectory buffer.
The first returned word is formatted as follows:
Bits
Description
0-7
Number of free locations in the trajectory buffer.
8-15 Reserved.
The second two words are reserved for future use.
0x116 0x117 0x516 0x605A RF INT16 CANopen quick stop option code.
0x117
0x118
0x517
0x605B
RF
INT16
CANopen shutdown option code.
0x118
0x119
0x518
0x605C
RF
INT16
CANopen disable option code.
0x119
0x11A
0x519
0x605D
RF
INT16
CANopen halt option code.
0x11A 0x11B 0X51A 0x2080 F* U32 Drive scaling configuration. Defines the units used for current and voltage readings
from the drive:
Copley Controls Page 56