Copley Controls Serial Encoder Uživatelská příručka stáhnout pdf (Strana 71)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0x192

0x193

0x592

0x2226

U32

Motor encoder calibration settings. The meaning of this parameter is dependent on

the encoder type.

0x193

0x194

0x593

0x2227

U32

Load encoder calibration settings. Same as 0x192, but applied to the load encoder.

0x194

0x195

0x594

0x232A

INT16

PWM input duty cycle. This parameter can be used to read the duty cycle of

the PWM input. The returned 16-bit value gives the duty cycle in the range

+/-32k. Parameter 0xA8 is used to configure the PWM input.

0x195

0x196

0x595

0x2123

INT32

Jerk value to use during trajectory aborts. If this is zero, then the abort will be

calculated without any jerk limits. Units are 100 counts / s

0x196

0x197

0x596

0x220E

INT32

Returns the magnitude squared of the analog encoder signals (sin*sin + cos*cos)

0x197

0x198

0x597

0x2378

INT16

Cross coupling KP gain. On dual axis drives this gain is applied to the

difference in position error of the two axes.

0x198

0x199

0x598

0x2379

INT16

Cross coupling KI gain.

0x199

0x19A

0x599

0x237A

INT16

Cross coupling KD gain.

0x19A

0x19B

0x59A

0x220F

words

Steinhart constants for motor analog motor temperature sensor.

0x19B

0x19C

0x59B

0x2384:30

INT16

Current at which minimum PWM deadtime is used.

0x19C

0x19D

0x59C

0x2406

INT32

High speed capture for passive load encoder.

0x19D

0x19E

0x59D

0x2142

INT16

Open motor wiring check current. If parameter 0x15B is greater than zero, then

during that time period on enable this current will be applied to the motor wiring to

check that the motor is connected. If the programmed current cannot be applied to

the motor, then a motor disconnected fault will be flagged.

0x19E

0x19F

0x59E

0x6066

U16

Position error timeout. The time that a position error must persist before it is

triggered. Units: ms

0x1A0

0x1A1

0x5A0

0x2193:9

See text

Output 9 Configuration. See

Output 0 Configuraton (0x70)

0x1A1

0x1A2

0x5A1

0x2193:10

See text

Output 10 Configuration. See

Output 0 Configuraton (0x70).

0x1A2

0x1A3

0x5A2

0x2193:11

See text

Output 11 Configuration. See

Output 0 Configuraton (0x70).

0x1A3

0x1A4

0x5A3

0x2193:12

See text

Output 12 Configuration. See

Output 0 Configuraton (0x70)

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