Copley Controls Serial Encoder Podręcznik Użytkownika Pobierz pdf (Strona 48)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0xE2

0xE3

0x4E2

0x2157

INT16

Regen Resistor Status. Bit-mapped as follows:

Bits

Description

Set if the regen circuit is currently closed.

1 Set if regen is required based on bus voltage.

Set if the regen circuit is open due to an overload condition. The overload may be caused by

either the resistor settings or the internal drive protections.

3-15 Reserved.

0xE3

0xE4

0x4E3

0x2382

U16

Position Loop Output Gain Multiplier. The output of the position loop is multiplied by

this value before being passed to the velocity loop. This scaling factor is calculated

such that a value of 100 is a 1.0 scaling factor.

This parameter is most useful in dual loop systems.

0xE4

0xE5

0x4E4

0x21C2

INT16

Maximum Current to use with algorithmic phase initialization. See code 5 of

Commutation Mode (0xB2). Units: 0.01 A.

0xE5

0xE6

0x4E5

0x21C3

U16

Algorithmic Phase Initialization Timeout. See code 5 of Commutation Mode (0xB2).

Units: ms.

0xE6

0xE7

0x4E6

0x21D8

INT32

Maximum Velocity Adjustment. This is the maximum velocity adjustment made by the

stepper outer position loop when enabled. This parameter is only used when the

stepper outer loop is engaged (when bit 1 of Stepper Configuration & Status (0xEE)

is set). Units: 0.1 steps/s.

0xE7

0xE8

0x4E7

0x21D7

U16

Proportional Gain For Stepper Outer Loop. This parameter gives the gain used for

calculating a velocity adjustment based on Position Loop Error (0x35). This

parameter is only used when the stepper outer loop is engaged (when bit 1 of

Stepper Configuration & Status (0xEE) is set).

0xE8

0xE9

0x4E8

0x21D0

INT16

Holding Current For Microstepping Mode. Units: 0.01 A.

0xE9 0xEA 0x4E9 0x21D1 RF U16 Run to Hold Time For Microstepping Mode. Units: ms.

0xEA

0xEB

0x4EA

0x21D2

U16

Detent Correction Gain Factor For Microstepping Mode.

0xED

0xEE

0x4ED

0x21D5

U16

Holding Current To Fixed Voltage Output Time for Microstepping Mode. Time delay

from entering hold current before entering the special voltage control mode of

operation. This mode trades the normal tight control of current for very low jitter on

the motor position. Used in stepper mode only. Set to 0 to disable this feature. Units:

ms.

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