Copley amplifier parameter dictionary - Maccon.de

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