Copley Controls Serial Encoder Uživatelská příručka stáhnout pdf (Strana 56)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

Bits Description

0-7

Segment time in milliseconds.

8-11

Reserved.

Set for relative positions; clear for absolute positions.

13-14

Reserved.

Always zero for data writes.

When writing a new PVT segment to the trajectory buffer, this first word is always

followed by a 32-bit position value. The position is specified in units of encoder

counts and can be interpreted as either absolute or relative based on bit 12 of the

command word.

Optionally, the position can be followed by a 32-bit velocity value. Velocity is

specified in units of 0.1 encoder counts / second. If the velocity is

supplied, then the drive will use cubic polynomial interpolation between points when

running the trajectory (PVT mode). If velocity is not supplied, then linear interpolation

will be used (PT mode). It's legal to mix PVT and PT segments within the same

move.

Reading this parameter always returns three words of status information about the

trajectory buffer.

The first returned word is formatted as follows:

Bits

Description

0-7

Number of free locations in the trajectory buffer.

8-15 Reserved.

The second two words are reserved for future use.

0x116 0x117 0x516 0x605A RF INT16 CANopen quick stop option code.

0x117

0x118

0x517

0x605B

INT16

CANopen shutdown option code.

0x118

0x119

0x518

0x605C

INT16

CANopen disable option code.

0x119

0x11A

0x519

0x605D

INT16

CANopen halt option code.

0x11A 0x11B 0X51A 0x2080 F* U32 Drive scaling configuration. Defines the units used for current and voltage readings

from the drive:

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