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 />
0x30 0x31 0x430 0x60FB:1<br />
or<br />
0x2382:1<br />
0x31 0x32 0x431 0x60F9:4<br />
or<br />
0x2381:4<br />
RF INT16 Position Loop Proportional Gain (Pp). CAN ID 0x60FB is no longer recommen<strong>de</strong>d.<br />
Please use 0x2382.<br />
RF INT16 Velocity Loop Gain Scaler (CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use<br />
0x2381). Velocity loop output is shifted this many times to arrive at the comman<strong>de</strong>d<br />
current value. Positive values result in a right shift while negative values result in a<br />
left shift. The shift allows the velocity loop gains to have reasonable values for very<br />
high or low resolution enco<strong>de</strong>rs.<br />
Recommen<strong>de</strong>d values for this <strong>parameter</strong> are 8, 0 or -1.<br />
0x32 0x33 0x432 0x2240 R* INT32 Actual Motor Position. Also known as Motor Enco<strong>de</strong>r Position. For dual enco<strong>de</strong>r<br />
systems this <strong>parameter</strong> gives the motor enco<strong>de</strong>r position. For single enco<strong>de</strong>r<br />
systems, this <strong>parameter</strong> is a synonym for Actual Position (p. 12). Units: counts.<br />
0x33 0x34 0x433 0x60FB:2<br />
or<br />
0x2382:2<br />
0x34 0x35 0x434 0x60FB:3<br />
or<br />
0x2382:3<br />
RF INT16 Position Loop Velocity Feed Forward (Vff). The Vff value is multiplied by the<br />
Trajectory Profile Velocity (p. 16) generated by the trajectory generator. The product<br />
is ad<strong>de</strong>d to the output of the position loop.<br />
This gain is scaled by 1/16384. Therefore, setting this gain to 0x4000 (16384) would<br />
cause the input velocity to be multiplied by 1.0, and the result ad<strong>de</strong>d to the output of<br />
the position loop.<br />
CAN ID 0x60FB is no longer recommen<strong>de</strong>d. Please use 0x2382.<br />
RF INT16 Position Loop Acceleration Feed Forward (Aff). The Aff value is multiplied by the<br />
Trajectory Profile Acceleration (p. 16) generated by the trajectory generator. The<br />
product is ad<strong>de</strong>d to the output of the position loop.<br />
CAN ID 0x60FB is no longer recommen<strong>de</strong>d. Please use 0x2382.<br />
0x35 0x36 0x435 0x60F4 R* INT32 Following Error. Also known as Position Error. The difference between Actual<br />
Position (p. 12) and Limited Position (p. 14). Units: counts.<br />
0x36 0x37 0x436 0x2100 RF INT32 Velocity Loop Acceleration Limit. Also known as Velocity Loop Maximum<br />
Acceleration. Used by the velocity loop limiter. Not used when velocity loop is<br />
controlled by the position loop. Units: 1000 counts/s 2 .<br />
0x37 0x38 0x437 0x2101 RF INT32 Velocity Loop Deceleration Limit. Also known as Velocity Loop Maximum<br />
Deceleration. Used by the velocity loop limiter. Not used when velocity loop is<br />
controlled by the position loop. Units: 1000 counts/s 2 .<br />
0x38 0x39 0x438 0x221C R* INT16 Actual Motor Current. Units: 0.01 A.<br />
<strong>Copley</strong> Controls Page 15