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 />
0x68 0x69 0x468 0x2402 R* INT32 Captured In<strong>de</strong>x Position. Provi<strong>de</strong>s the position that the axis was in when an in<strong>de</strong>x<br />
pulse was captured. Configured by setting bits in the Position Capture Control<br />
Register (p. 23), and the status of the captured data can be checked in the Position<br />
Capture Status Register (p. 24). Reading this variable resets bits 0 & 3 of the<br />
Position Capture Status Register (p. 24). Units: counts.<br />
0x69 0x6A 0x469 0x2232 R* INT32 Unfiltered Motor Enco<strong>de</strong>r Velocity. Units 0.1 counts/s.<br />
0x6A 0x6B 0x46A 0x2113 RF INT32 Comman<strong>de</strong>d Current Ramp Rate. Setting this to zero disables slope limiting.<br />
Units: mA/s.<br />
0x6B 0x6C 0x46B 0x2108 RF 9 or 14 Velocity Loop Command Filter Co-Efficients. A bi-quad filter structure that acts on the<br />
command input of the velocity loop just after velocity & acceleration limiting. 9 word<br />
<strong>parameter</strong>, see Velocity Loop Filters in the CME 2 User Gui<strong>de</strong>. 14 word <strong>parameter</strong><br />
(Plus product only), see Filter Coefficients (p. 65).<br />
0x6C 0x6D 0x46C 0x2400 RF U16 Position Capture Control Register. Sets up position capture features for the enco<strong>de</strong>r<br />
in<strong>de</strong>x home switch input and high speed position capture input. Bit-mapped as<br />
follows:<br />
Bit Description<br />
0 If set, the Captured In<strong>de</strong>x Position (p. 23) is captured on the falling edge of the in<strong>de</strong>x.<br />
1 If set, the Captured In<strong>de</strong>x Position is captured on the rising edge of the in<strong>de</strong>x.<br />
2 If set, a Captured In<strong>de</strong>x Position value will not be overwritten by a new position until it has<br />
been read. If clear, new positions will overwrite old positions.<br />
3, 4 Reserved.<br />
5 If set, Captured Home Position (p. 52) captures falling edges of the home switch input<br />
transition; if clear, it captures rising edges.<br />
6 If set, Captured Home Position will not be overwritten by a new position until it has been<br />
read.<br />
If clear, new positions will overwrite old positions.<br />
8 If set, enable high speed input position capture. The position value is written to Captured<br />
Position for High Speed Position Capture (p. 53).<br />
9 If set, don't overwrite high speed input capture positions.<br />
10 If set, a Captured Position for High Speed Position Capture value will not be overwritten by a<br />
new position until it has been read. If clear, new positions will overwrite old positions.<br />
12 Clear actual position on every enco<strong>de</strong>r in<strong>de</strong>x pulse.<br />
<strong>Copley</strong> Controls Page 23