Copley amplifier parameter dictionary - Maccon.de

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