Datasheet

DMC60C™ Software Reference Manual

Other product and company names mentioned may be trademarks of their respective owners.

Page 4 of 16

1.2 Configurable Parameters

1.2.1 Device

• Device ID - The device ID of the DMC60C on the CAN bus. This can be a number between 0 and 63. No

two DMC60Cs should share a device ID. The DMC60C configuration utility will be able to tell them apart,

but the robot application will not unless they have different device IDs.

• Device Name - The name of the DMC60C. This is used only in the web configuration utility to help keep

track of which DMC60C is which.

1.2.2 Current Limits

• Current Limit Enabled - This will enable or disable current limiting.

• Continuous Current Limit - The maximum allowed continuous current limit. If load current exceeds the

Peak Current Limit for longer than the Peak Current Duration and current limiting is enabled, then the

load current will be limited to the value specified by the Continuous Current Limit. If the Continuous

Current Limit is set to a value that’s greater than or equal to the Peak Current Limit and current limiting is

enabled, then the DMC60C will limit begin limiting the load current immediately after the first time that it

detects that the Continuous Current Limit has been exceeded.

• Peak Current Limit - The maximum allowed peak current limit. If load current exceeds the Peak Current

Limit for longer than the Peak Current Duration and current limiting is enabled, then the load current will

be limited to the value specified by the Continuous Current Limit. If the Peak Current Duration is set to 0

and current limiting is enabled, then the DMC60C will begin applying the Continuous Current Limit

immediately after the first time that it detects that the Peak Current Limit has been exceeded. If the Peak

Current Limit is set to a value that’s smaller than the Continuous Current Limit and current limiting is

enabled, then the DMC60C will begin applying the Continuous Current Limit immediately after it detects

that the Continuous Current Limit has been exceeded.

• Peak Current Duration - The duration that the motor will maintain the peak current. If load current

exceeds the Peak Current Limit for longer than the Peak Current Duration and current limiting is enabled,

then the load current will be limited to the value specified by the Continuous Current Limit. If the Peak

Current Duration is set to 0 and current limiting is enabled, then the DMC60C will begin applying the

Continuous Current Limit immediately after the first time that it detects that the Peak Current Limit has

been exceeded. If the Peak Current Limit is set to a value that’s smaller than the Continuous Current Limit

and current limiting is enabled, then the DMC60C will begin applying the Continuous Current Limit

immediately after it detects that the Continuous Current Limit has been exceeded.

1.2.3 Limit Switches

• Forward Limit Switch - This determines the mode of the forward limit switch. If enabled, the DMC60C will

prevent the output from applying a positive voltage to the load when the limit switch is active (if it closes

when normally open or opens when normally closed). The forward limit switch value is read from the

FWDLIM pin on the DMC60C.

• Reverse Limit Switch - This determines the mode of the reverse limit switch. If enabled, the DMC60C will

prevent the output from applying a negative voltage to the load when the limit switch is active (if it closes

when normally open or opens when normally closed). The reverse limit switch value is read from the

REVLIM pin on the DMC60C.