User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x127
0x128
0x527
0x2370
RF
U32
Gain scheduling configuration:
Bits
Meaning
0-2
Key parameter for gain scheduling.
Value Description
0
None. Setting the key parameter to zero disables gain scheduling.
1
Use value written to Gain scheduling key parameter value (0x128) as the key.
2
Use Instantaneous Commanded Velocity (0x3B).
3
Use Load Encoder Velocity (0x5F).
4
Use Commanded Position (0x2D).
5
Use Actual Position (0x17).
6-7
Reserved.
3-7
Reserved.
8
If set, use the absolute value of key parameter for gain lookup.
9 If set, disable gain scheduling until the position encoder is referenced.
10-31
Reserved.
0x128
0x129
0x528
0x2371
R
INT32
Gain scheduling key parameter value. When gain scheduling is enabled, the current
value of the key parameter is stored here. When this parameter is selected as the
key parameter for gain scheduling, then it may be written to manually move through
entries in the gain scheduling table.
0x129
0x12A
0x529
0x2384:29
R
U32
Drive Hardware Options. Reserved for Copley Controls use.
0x12A
0x12B
0x52A
0x2222
F
U32
Motor encoder options. Used to specify various configuration options for the motor
encoder. The mapping of option bits to function depends on the encoder type. Any
bit not defined for a particular encoder should be considered reserved. Reserved bits
should be set to zero to ensure compatibility with future firmware updates. Bit-
mapped as follows:
Quadrature Encoder
Bits
Description
0 If set, ignore differential signal errors (if detected in hardware).
1
If set, select single ended encoder inputs (if available in hardware).
2
If set, ignore differential signal errors on index input only (if supported by hardware).
Copley Controls Page 60