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 />
0x39 0x3A 0x439 0x2102 RF INT32 Velocity Loop Fast Stop Ramp. Also known as Velocity Loop Emergency Stop<br />
Deceleration. This value is used during the time that the <strong>amplifier</strong> is trying to actively<br />
stop a motor before applying the brake output.<br />
Note that this <strong>parameter</strong> is not used when the position loop is driving the velocity<br />
loop. Units: 1000 counts/s 2 .<br />
0x3A 0x3B 0x43A 0x2103 RF INT32 Velocity Loop Velocity Limit. Also known as Velocity Loop Maximum Velocity. This<br />
value is a limit on the comman<strong>de</strong>d velocity used by the velocity loop. Note that this<br />
limit is always in effect. Units 0.1 counts/s.<br />
0x3B 0x3C 0x43B 0x2250 R* INT32 Trajectory Profile Velocity. (Instantaneous Comman<strong>de</strong>d Velocity.) This is a trajectory<br />
generator output by which the Position Loop Velocity Feed Forward (p. 15) is<br />
multiplied. Units: 0.1 counts/s.<br />
0x3C 0x3D 0x43C 0x2251 R* INT32 Trajectory Profile Acceleration. Also known as Instantaneous Comman<strong>de</strong>d<br />
Acceleration. This is a trajectory generator output by which the Position Loop<br />
Acceleration Feed Forward (p. 15) is multiplied. Units: counts/s 2 .<br />
0x3D 0x3E 0x43D 0x2122 R* INT32 Comman<strong>de</strong>d Position. Also known as Trajectory Generator Destination Position. This<br />
is the position that the trajectory generator uses as its <strong>de</strong>stination.<br />
Units: counts.<br />
0x3E 0x3F 0x43E 0x2104 RF INT32 Velocity Tracking Window. Also known as Velocity Error Window-Profile Position. If<br />
the absolute value of the velocity loop error exceeds this value, then the Velocity<br />
Window bit (bit 28) in the Amplifier Event Status Register (p. 31) is set. The Velocity<br />
Window bit is cleared only when the velocity error has been within the Velocity<br />
Tracking Window for the Velocity Tracking Time (p. 16). Units: 0.1 counts/s.<br />
0x606D RF U16 Velocity Loop Error Window. CANopen Object 0x606D holds the same value as<br />
0x2104. In the <strong>Copley</strong> Controls implementation, 0x606D and 0x2104 differ only in the<br />
data type. Object 0x606D is Unsigned 16 and 0x2104 is Integer 32. Changes ma<strong>de</strong><br />
to either CANopen object affect both.<br />
0x3F 0x40 0x43F 0x2105 RF U16 Velocity Tracking Time. Also known as Velocity Error Window Time. When the<br />
absolute velocity error remains below the Velocity Tracking Window for this amount<br />
of time, the Velocity Window bit (bit 28) in the Amplifier Event Status Register (p. 31)<br />
is cleared. Units: ms.<br />
0x606E Velocity Error Window Time. CANopen 0x606E holds the same value as 0x2105.<br />
<strong>Copley</strong> Controls Page 16