Datasheet

DMC60C™ Software Reference Manual
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Page 6 of 16
• Forward Max Duty Cycle – This parameter limits the maximum forward duty cycle that can be applied
when this PID slot is in use. The value of this parameter should be between 0 and 32767. This value is
used when driving the motor in one of the closed loop control modes (Velocity, Position, or Current).
• Reverse Max Duty Cycle - This parameter limits the maximum reverse duty cycle that can be applied
when this PID slot is in use. The value of this parameter should be between -32768 and 0. This value is
used when driving the motor in one of the closed loop control modes (Velocity, Position, or Current).
• Forward Nominal Duty Cycle - This parameter limits the smallest forward duty cycle that can be applied
when the closed loop error exceeds the allowable closed loop error. The value of this parameter should
be between 0 and 32767. This value is used when driving the motor in one of the closed loop control
modes (Velocity, Position, or Current).
• Reverse Nominal Duty Cycle – This parameter limits the smallest reverse duty cycle that can be applied
when the closed loop error exceeds the allowable closed loop error. The value of this parameter should
be between -32768 and 0. This value is used when driving the motor in one of the closed loop control
modes (Velocity, Position, or Current).
1.2.5 Soft Limits
• Soft Forward Threshold - The maximum position that the encoder can read in the forward direction. The
units are native to the encoder that is connected to the DMC60C. Each time the DMC60C’s control loop
executes (500us) the current position of the encoder is read and compared to the soft forward limit
threshold. If the current position is greater than the soft forward limit threshold and the soft forward limit
is enabled, then the DMC60C’s output will be prevented from applying a positive voltage to the load. Both
positive and negative soft limit thresholds are valid.
• Soft Reverse Threshold - The maximum position that the encoder can read in the reverse direction. The
units are native to the encoder that is connected to the DMC60C. Each time the DMC60C’s control loop
executes (500us) the current position of the encoder is read and compared to the soft forward limit
threshold. If the current position is less than or equal to the soft forward limit threshold and the soft
forward limit is enabled, then the DMC60C’s output will be prevented from applying a negative voltage to
the load. Both positive and negative soft limit thresholds are valid.
1.2.6 Faults
This section shows the current active and sticky faults that have occurred on the DMC60C. The sticky faults are
saved in nonvolatile memory and are persistent across power cycles. The active and sticky lights represent
whether there are active or sticky faults currently detected. The count box shows how many sticky faults have
been logged since the faults were last cleared. Clicking the Clear All button will reset all sticky fault counts to 0.
• Over Temperature – Occurs when the temperature of the PCB reaches 100°C.
• Under Voltage – Occurs when the input voltage falls below 5.75 Volts (+/- 2%) for 5 or more seconds.
• Communications – Occurs when connection with the CAN bus is lost.
1.3 Saving Parameters
When you are ready to save your changes to the DMC60C parameters, click the button on the top panel. If
the parameters were successfully updated, they will glow green for a few seconds. Otherwise they will turn red.
You should see the changes logged in the console below. If any errors occurred, they will be shown in the console
as well.