Copley Controls Serial Encoder Podręcznik Użytkownika Pobierz pdf (Strona 15)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

The microstepper is controlled by the CANopen or EtherCAT interface.

Reserved

Simple micro-stepping mode. For diagnostic use only.

0x25

0x26

0x425

0x221E

INT16

Limited Motor Current Command. Units: 0.01 A.

0x26

0x27

0x426

0x2313

INT16

Analog Reference Input Deadband. Deadband window value applied to the analog

command input. Units: mV.

0x27

0x28

0x427

0x2381:1

U16

Velocity Loop Proportional Gain (Vp).

0x28

0x29

0x428

0x2381:2

U16

Velocity Loop Integral Gain (Vi).

0x29

0x2A

0x429

0x2230

INT32

Velocity Loop Limited Velocity. This is the commanded velocity after it passes

through the acceleration and velocity limits and the velocity command filter. The

velocity error used by the loop is the difference between the actual velocity and this

value. Units: 0.01 RPM for Junus, microsteps/s for Stepnet in stepper mode, 0.1

encoder counts/s for all other products.

0x2A

0x2B

0x42A

None

INT32

Velocity Loop Error.

0x2B

0x2C

0x42B

None

INT32

Velocity loop Integral Sum.

0x2C 0x2D 0x42C 0x606B R* INT32 Commanded Velocity. Units: 0.01 RPM for Junus, microsteps/s for Stepnet in

stepper mode, 0.1 encoder counts/s for all other products.

0x2D

0x2E

0x42D

0x6062

INT32

Commanded Position. Also known as Limited Position in CME. Units: counts.

0x2E

0x2F

0x42E

0x2381:3

U16

Velocity Loop Acceleration Feed Forward. The acceleration command from the

trajectory generator is multiplied by this value and the result is added to the velocity

loop output.

0x2F

0x30

0x42F

0x2341

INT32

Programmed Velocity Command. Only used in Programmed Velocity Mode (Desired

State (0x24) = 11) Units: 0.01 RPM for Junus, microsteps/s for Stepnet in stepper

mode, 0.1 encoder counts/s for all other products.

0x30

0x31

0x430

0x2382:1

U16

Position Loop Proportional Gain (Pp).

0x31

0x32

0x431

0x2381:4

INT16

Velocity Loop Shift Value. After the velocity loop is calculated, the result is right

shifted this many times to arrive at the commanded current value. This allows the

velocity loop gains to have reasonable values for high resolution encoders.

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