Copley amplifier parameter dictionary - Maccon.de
Copley amplifier parameter dictionary - Maccon.de
Copley amplifier parameter dictionary - Maccon.de
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<strong>Copley</strong> Amplifier Parameter Dictionary Amplifier Variables<br />
ASCII DvcNet Macro CAN ID:sub Bank Type Description<br />
35 In microstepping mo<strong>de</strong>, the position loop is driven by the camming function.<br />
40 In microstepping mo<strong>de</strong>, the <strong>amplifier</strong> is controlled by the CANopen / EtherCAT state machine.<br />
42 Micro-stepping diagnostic mo<strong>de</strong>. The current loop is driven by the programmed current value, and the<br />
phase angle is micro-stepped.<br />
0x25 0x26 0x425 0x221E R* INT16 Limited Current. Output of current limiter (input to the current loop). Units: 0.01 A.<br />
0x26 0x27 0x426 0x2313 RF INT16 Analog Command Input Dead Band. Deadband window value applied to the analog<br />
command input. Units: mV.<br />
0x27 0x28 0x427 0x60F9:1<br />
or<br />
0x2381:1<br />
0x28 0x29 0x428 0x60F9:2<br />
or<br />
0x2381:2<br />
RF INT16 Velocity Loop Proportional Gain (Vp). CAN ID 0x60F9 is no longer recommen<strong>de</strong>d.<br />
Please use 0x2381.<br />
RF INT16 Velocity Loop Integral Gain (Vi). CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please<br />
use 0x2381.<br />
0x29 0x2A 0x429 0x2230 R* INT32 Limited Velocity. This is the comman<strong>de</strong>d velocity after is passes through the velocity<br />
loop limiter and the velocity command filter. Units: 0.1 counts/s.<br />
0x2A 0x2B 0x42A R* INT32 Velocity Loop Error. The difference between Limited Velocity (p. 14) and<br />
Unfiltered Motor Enco<strong>de</strong>r Velocity (p. 23).<br />
0x2C 0x2D 0x42C 0x606B R* INT32 Comman<strong>de</strong>d Velocity. Velocity command, from the position loop or external source,<br />
that is the input to the velocity loop limiter. Units: 0.1 counts/s.<br />
0x60FA Position Loop Control Effort. CANopen objects 0x60FA and 0x606B hold the same<br />
value.<br />
0x2D 0x2E 0x42D 0x60FC R* INT32 Limited Position. Also known as Position Comman<strong>de</strong>d. This value is a trajectory<br />
generator output that represents the comman<strong>de</strong>d position input to the position<br />
control loop. Units: counts.<br />
0x2E 0x2F 0x42E 0x60F9:3<br />
or<br />
0x2381:3<br />
0x6062 Position Command. CANopen object 6062 holds the same value as 0x60FC.<br />
RF INT16 Velocity Loop Acceleration Feed Forward. This value is multiplied by the Trajectory<br />
Profile Acceleration (p. 16) generated by the trajectory generator and the result is<br />
ad<strong>de</strong>d to the velocity loop output. CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please<br />
use 0x2381.<br />
0x2F 0x30 0x42F 0x2341 RF INT32 Programmed Velocity Command. Only used in Programmed Velocity Mo<strong>de</strong> (Desired<br />
Amplifier State [p. 13] = 11) Units: 0.1 counts/s.<br />
<strong>Copley</strong> Controls Page 14