Copley amplifier parameter dictionary - Maccon.de

Copley Amplifier Parameter Dictionary Amplifier Variables
ASCII DvcNet Macro CAN ID:sub Bank Type Description
14-15 Selects source of digital position input command.
Value Description
0 Single ended high speed inputs.
1 Multi-mode encoder port.
2 Differential high speed inputs.
3 Motor encoder port.
0xA9 0xAA 0x4A9 0x2321 RF INT32 Digital Command Input Scaling Factor. This value gives the amount of current to
command at 100% PWM input. The scaling depends on what the PWM input is
driving:
Current mode: 0.01 A
Velocity (Accelus): 0.1 counts/s
In position mode the scaling factor is a ratio of two 16-bit values. The first word
passed gives the numerator and the second word gives the denominator. This ratio
determines the number of encoder units moved for each pulse (or encoder count)
input.
For example, a ratio of 1/3 would cause the motor to move 1 encoder unit for every
three input steps.
0xAA 0xAB 0x4AA 0x2196 R* U16 Raw Input State. The 16-bit value returned by this command gives the current state
(high/low) of the amplifier’s input pins. Unlike Input Pin States (p. 34), no debounce is
applied when reading the inputs using this variable.
The bits are mapped in the same order as Input Pin States (p. 34).
0xAB 0xAC 0x4AB 0x2194 R U16 Output States And Program Control. When read, this parameter gives the
active/inactive state of the amplifier’s general-purpose digital outputs. Each bit
represents an input number. Bit 0 = digital output 1 (OUT1), bit 1 = OUT2, etc., up to
OUTn, the number of digital outputs on the amplifier. Additional bits are ignored.
Outputs that have been configured for program control can be set by writing to this
parameter. Set a bit to activate the output. It will be activated high or low according to
how it was programmed. Clear a bit to make the output inactive. If an output was not
configured for program control it will not affected.
Copley Controls Page 37