User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
microseconds.
0x150
0x151
0x550
0x210A
RF
14
words
Second chained biquad filter on output of velocity loop, see Filter Coefficients (p. 73).
0x151
0x152
0x551
0x210B
RF
14
words
Third chained biquad filter on output of velocity loop. 14 word parameter, see Filter
Coefficients (p. 73).
0x152
0x153
0x552
0x210C
RF
14
words
First chained biquad filter on input of current loop. 14 word parameter, see Filter
Coefficients (p. 73).
0x153
0x154
0x553
0x210D
RF
14
words
Second chained biquad filter on input of current loop. 14 word parameter, see Filter
Coefficients (p. 73).
0x154
0x155
0x554
0x2301
RF
INT32
Servo loop configuration. This parameter allows various parts of the drive servo
loops to be enabled/disabled. Bit-mapped as follows:
Bits
Description
0
If set, this disables the velocity loop gains. The velocity loop command feed forward gain
(parameter 0x157) is still active as are the velocity loop output filters.
1
If set, this enables the position loop I and D gains (parameters 0x155 and 0x156). If clear,
these parameters are treated as zeros.
2-31
Reserved for future use.
0x155
0x156
0x555
0x2382:5
RF
INT16
Position loop integral gain (KI).
0x156
0x157
0x556
0x2382:6
RF
INT16
Derivative gain for position loop (KD).
0x157
0x158
0x557
0x2381:6
RF
INT16
Velocity loop command feed forward. The input command (after limiting) to the
velocity loop is scaled by this value and added in to the output of the velocity loop.
0x158
0x159
0x558
0x2382:7
RF
INT16
Integral drain for position loop.
0x159
0x15A
0x559
0x6007
RF
INT16
Abort option code for CANopen / EtherCAT drives.
Copley Controls Page 66