User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x184
0x185
0x584
0x2254
RF
8 to 40
Words
Input shaping filter. This filter is used to modify the trajectory before its input to the
position loop. This can be used to compensate for low frequency resonances in the
load.
The parameter is an array of 32-bit values. The first four values are used to store
information about the input shaping filter (filter type, frequency, etc.) and are mostly
unused by the firmware. The only exception is that the MSB of the first word should
not be set to ensure compatibility with future firmware versions.
The remaining 32-bit values are pairs of IEEE floating point values. Each pair defines
a time (first value) and an impulse amplitude (second value). Up to eight pairs may
be passed for up to 8 impulses in the input shaping filter. The time values are
specified in seconds and must be >= 0.0. The impulse values are unit-less and must
have an absolute magnitude of < 16.0.
0x185
0x186
0x585
0x2160
R
U32
Output compare configuration. For a detailed description of the output compare
function, please see the Setting Outputs at Position application note describing it.
0x186
0x187
0x586
0x2161
R
U32
Output compare status.
0x187
0x188
0x587
0x2162
R
INT32
Output compare value 1.
0x188
0x189
0x588
0x2163
R
INT32
Output compare value 2.
0x189
0x18A
0x589
0x2164
R
INT32
Output compare increment.
0x18A
0x18B
0x58A
0x2165
R
INT32
Output compare pulse width.
0x18B
0x18C
0x58B
0x2255
RF
INT32
Trajectory options. This parameter is used to modify the behavior of some
trajectory modes. Its interpretation depends on the trajectory mode being used.
The following trajectory modes currently make use of this parameter:
EtherCAT CSP mode:
Bits
Description
0-7
Number of extra loop cycles to extrapolate trajectories if input
data from the master is not received.
8-15
Reserved.
16
If set, jump to quick stop mode if master data is not received
within the number of cycles set in bits 0-7.
17
If set, and the interpolation time object (0x60C2) is non-zero, then the calculated velocity will
be filtered, and a trajectory acceleration will also be calculated. If not set, velocity is unfiltered
and acceleration is not calculated (zero).
18-31
Reserved.
Copley Controls Page 69