Copley amplifier parameter dictionary - Maccon.de

Copley Amplifier Parameter Dictionary Amplifier Variables
ASCII DvcNet Macro CAN ID:sub Bank Type Description
0xE7 0xE8 0x4E7 0x21D7 RF U16 Proportional Gain For Stepper Outer Loop. This parameter gives the gain used for
calculating a velocity adjustment based on Following Error (p. 15). This parameter is
only used when the stepper outer loop is engaged (when bit 1 of Stepper
Configuration & Status [p. 48] is set).
0xE8 0xE9 0x4E8 0x21D0 RF U16 Holding Current For Microstepping Mode. Units: 0.01 A.
0xE9 0xEA 0x4E9 0x21D1 RF U16 Run to Hold Time For Microstepping Mode. Units: ms.
0xEA 0xEB 0x4EA 0x21D2 RF INT16 Detent Correction Gain Factor For Microstepping Mode.
0xEB 0xEC 0x4EB 0x21D3 RF U16 Damping Correction Gain Factor For Microstepping Mode.
0xEC 0xED 0x4EC 0x21D4 RF 9 or 14 Damping Correction Bi-Quad Filter Structure For Microstepping Mode. 14 word
parameter (Plus product only), see 0x150.
0xED 0xEE 0x4ED 0x21D5 RF U16 Holding Current To Fixed Voltage Output Time for Microstepping Mode. Time delay
from entering hold current before entering the special voltage control mode of
operation. This mode trades the normal tight control of current for very low jitter on
the motor position. Used in stepper mode only. Set to 0 to disable this feature. Units:
ms.
0xEE 0xEF 0x4EE 0x21D6 RF U16 Stepper Configuration & Status. This variable is bit-mapped as follows:
Bit Description
0 Use the encoder input for phase compensation if enabled. Pure stepper mode if disabled.
1 Use on outer position loop to adjust the stepper position based on Following Error (p. 15).
When this bit is set, the gain value Maximum Velocity Adjustment (p. 47) is multiplied by the
Following Error, and the result is a velocity that is added to the microstepping position.
2-15 Reserved.
0xF0 0xF1 0x4F0 0x2195:1 RF U16 Debounce Time For Input 1. Units: ms.
0xF1 0xF2 0x4F1 0x2195:2 RF U16 Debounce Time For Input 2. Units: ms.
0xF2 0xF3 0x4F2 0x2195:3 RF U16 Debounce Time For Input 3. Units: ms.
0xF3 0xF4 0x4F3 0x2195:4 RF U16 Debounce Time For Input 4. Units: ms.
0xF4 0xF5 0x4F4 0x2195:5 RF U16 Debounce Time For Input 5. Units: ms.
0xF5 0xF6 0x4F5 0x2195:6 RF U16 Debounce Time For Input 6. Units: ms.
0xF6 0xF7 0x4F6 0x2195:7 RF U16 Debounce Time For Input 7. Units: ms.
0xF7 0xF8 0x4F7 0x2195:8 RF U16 Debounce Time For Input 8. Units: ms.
Copley Controls Page 48