User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
0x192
0x193
0x592
0x2226
RF
U32
Motor encoder calibration settings. The meaning of this parameter is dependent on
the encoder type.
0x193
0x194
0x593
0x2227
RF
U32
Load encoder calibration settings. Same as 0x192, but applied to the load encoder.
0x194
0x195
0x594
0x232A
R*
INT16
PWM input duty cycle. This parameter can be used to read the duty cycle of
the PWM input. The returned 16-bit value gives the duty cycle in the range
+/-32k. Parameter 0xA8 is used to configure the PWM input.
0x195
0x196
0x595
0x2123
RF
INT32
Jerk value to use during trajectory aborts. If this is zero, then the abort will be
calculated without any jerk limits. Units are 100 counts / s
3
.
0x196
0x197
0x596
0x220E
R*
INT32
Returns the magnitude squared of the analog encoder signals (sin*sin + cos*cos)
0x197
0x198
0x597
0x2378
RF
INT16
Cross coupling KP gain. On dual axis drives this gain is applied to the
difference in position error of the two axes.
0x198
0x199
0x598
0x2379
RF
INT16
Cross coupling KI gain.
0x199
0x19A
0x599
0x237A
RF
INT16
Cross coupling KD gain.
0x19A
0x19B
0x59A
0x220F
RF
5
words
Steinhart constants for motor analog motor temperature sensor.
0x19B
0x19C
0x59B
0x2384:30
F*
INT16
Current at which minimum PWM deadtime is used.
0x19C
0x19D
0x59C
0x2406
R*
INT32
High speed capture for passive load encoder.
0x19D
0x19E
0x59D
0x2142
RF
INT16
Open motor wiring check current. If parameter 0x15B is greater than zero, then
during that time period on enable this current will be applied to the motor wiring to
check that the motor is connected. If the programmed current cannot be applied to
the motor, then a motor disconnected fault will be flagged.
0x19E
0x19F
0x59E
0x6066
RF
U16
Position error timeout. The time that a position error must persist before it is
triggered. Units: ms
0x1A0
0x1A1
0x5A0
0x2193:9
RF
See text
Output 9 Configuration. See
Output 0 Configuraton (0x70)
.
0x1A1
0x1A2
0x5A1
0x2193:10
RF
See text
Output 10 Configuration. See
Output 0 Configuraton (0x70).
0x1A2
0x1A3
0x5A2
0x2193:11
RF
See text
Output 11 Configuration. See
Output 0 Configuraton (0x70).
0x1A3
0x1A4
0x5A3
0x2193:12
RF
See text
Output 12 Configuration. See
Output 0 Configuraton (0x70)
.
Copley Controls Page 71