Copley Controls Serial Encoder Podręcznik Użytkownika Pobierz pdf (Strona 42)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

referenced (i.e. homing has been successfully completed). Set to greater than

positive software limit to disable. Units: counts.

0xBA 0xBB 0x4BA 0x2120 RF INT32 Position Tracking Error Limit. Also known as Tracking Error Window. If the Position

Loop Error (0x35) exceeds this value then the tracking error bit (bit 18) of the Drive

Event Status Register (0xA0) is set and the motor is stopped. Using Fault Mask

(0xA7), the tracking error event can be configured to either disable the drive

immediately, or abort the present move and continue holding position. Units: counts.

0xBB

0xBC

0x4BB

0x6065

INT32

Position Tracking Warning Limit. If the Position Loop Error (0x35) exceeds this value

then the tracking warning bit (bit 19) of the Drive Event Status Register (0xA0) is set.

Units: counts.

0xBC

0xBD

0x4BC

0x6067

INT32

Position Tracking Window Limit. If the Position Loop Error (0x35) exceeds this value

then the tracking window bit (bit 25) of the Drive Event Status Register (0xA0) is set.

Units: counts.

0xBD

0xBE

0x4BD

0x6068

U16

Time Delay For Position Tracking Error Limit (0xBA). The tracking window bit (bit 25)

of the Drive Event Status Register (0xA0) will not be cleared until the Position Loop

Error (0x35) has been within the Position Tracking Error Limit (0xBA) for at least this

long. Units: ms.

0xBE

0xBF

0x4BE

0x2253

U32

Software Limit Deceleration. The deceleration rate used to stop a motor when

approaching a software limit. Units: 10 counts/s

0xBF

0xC0

0x4BF

0x2351

U16

Homing Current Delay Time (used with home to hard stop mode only). When

performing a home to hard stop, the amplifier will push against the stop for this long

before sampling the home position. Units: ms.

0xC0

0xC1

0x4C0

None

INT16

Network Node ID. This is the drive’s present ID as read at system startup. The node

ID is only read at system startup, so this value will not change unless the drive is

reset. See Network Node ID Configuration (0xC1).

0xC1

0xC2

0x4C1

0x21B0

INT16

Network Node ID Configuration. Defines how a drive’s node ID is calculated, and

specifies the drive’s network bit rate.

The ID is calculated at startup (and only at startup) using a combination of general-

purpose input pins and a programmed offset value. On certain models, an address

switch is also used. The resulting value is clipped to a 7-bit ID in the range 0 to 127.

Bit-mapped as follows:

Bits

Description

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