Copley Controls Serial Encoder Uživatelská příručka stáhnout pdf (Strana 69)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0x184

0x185

0x584

0x2254

8 to 40

Words

Input shaping filter. This filter is used to modify the trajectory before its input to the

position loop. This can be used to compensate for low frequency resonances in the

load.

The parameter is an array of 32-bit values. The first four values are used to store

information about the input shaping filter (filter type, frequency, etc.) and are mostly

unused by the firmware. The only exception is that the MSB of the first word should

not be set to ensure compatibility with future firmware versions.

The remaining 32-bit values are pairs of IEEE floating point values. Each pair defines

a time (first value) and an impulse amplitude (second value). Up to eight pairs may

be passed for up to 8 impulses in the input shaping filter. The time values are

specified in seconds and must be >= 0.0. The impulse values are unit-less and must

have an absolute magnitude of < 16.0.

0x185

0x186

0x585

0x2160

U32

Output compare configuration. For a detailed description of the output compare

function, please see the Setting Outputs at Position application note describing it.

0x186

0x187

0x586

0x2161

U32

Output compare status.

0x187

0x188

0x587

0x2162

INT32

Output compare value 1.

0x188

0x189

0x588

0x2163

INT32

Output compare value 2.

0x189

0x18A

0x589

0x2164

INT32

Output compare increment.

0x18A

0x18B

0x58A

0x2165

INT32

Output compare pulse width.

0x18B

0x18C

0x58B

0x2255

INT32

Trajectory options. This parameter is used to modify the behavior of some

trajectory modes. Its interpretation depends on the trajectory mode being used.

The following trajectory modes currently make use of this parameter:

EtherCAT CSP mode:

Bits

Description

0-7

Number of extra loop cycles to extrapolate trajectories if input

data from the master is not received.

8-15

Reserved.

If set, jump to quick stop mode if master data is not received

within the number of cycles set in bits 0-7.

If set, and the interpolation time object (0x60C2) is non-zero, then the calculated velocity will

be filtered, and a trajectory acceleration will also be calculated. If not set, velocity is unfiltered

and acceleration is not calculated (zero).

18-31

Reserved.

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