Servosila-Device-Reference-0xA020192

encoder's datasheet. 0x11,
rw
6
min pulse width
(angle=0 deg)
sec or
clocks
This parameter specifies the duty cycle that corresponds to ZERO position
reported by the encoder. This parameter should be taken from the encoder's
datasheet.
FLOAT32,
0x3012,
0x12,
rw
7
pulse exit width sec or
clocks
This parameter is specific to AMS encoders. The value should be taken from
the encoder's datasheet. Otherwise, keep as 0.0.
FLOAT32,
0x3012,
0x14,
rw
8
polarity inversion 0 or 1 The parameter tells the controller to electrically invert the input PWM
signal. Leave the default setting unless an application-specific need arises.
BOOL,
0x3012,
0x13,
rw
Configuration - Peripheral: Gate Driver
# Parameter Units Description CANopen
1
Amplifier
Gain Selector
0 or 1 • 0: gain = 10
• 1: gain = 40
If a particular motor has a low Maximum Continuous Current rating, then a
dynamic range of the controller's ADC module might not be fully utilized. This
under-utilization of the dynamic range might create discretization errors when
measuring low phase currents. The discretization errors might reduce efficiency of
the electrical drive when controlling small motors.
To counter this issue, increase the gain of the amplifier whenever the motor's
"Maximum Continuous Current" rating is equal or less than 5A. Re-confirm this
threshold for your particular model of the controller.
UINT16,
0x3002,
0x03,
rw
Configuration - Networking
# Parameter Units Description CANopen
1
CANbus: bitrate kbps • 1000
• 500
• 250
• 125
• 100
• 50
The parameter defines bitrate in kbps for the CANbus interface of the
controller. This bit rate should match the bitrates of other devices on the same
CANbus network.
UINT16,
0x3000,
0x02,
rw
2
CANopen: Node
ID
1-127 The parameter defines the controller's Node ID on a CANopen network. Valid
Node IDs range from 1 to 127 (11 bits only).
UINT32,
0x3000,
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