Copley amplifier parameter dictionary - Maccon.de

Copley Amplifier Parameter Dictionary Amplifier Variables
ASCII DvcNet Macro CAN ID:sub Bank Type Description
0x127 0x128 0x527 0x2370 RF U16 Gain scheduling configuration:
Bits Meaning
0-2 Key parameter for gain scheduling.
Value Description
0 None. Setting the key parameter to zero disables gain scheduling.
1 Use value written to Gain scheduling key parameter value (p. 57) as the key.
2 Use Trajectory Profile Velocity (p. 16).
3 Use Position Encoder Velocity (p. 21).
4 Use Limited Position (p. 14).
5 Use Actual Position (p. 12).
6-7 Reserved.
3-7 Reserved.
8 If set, use the absolute value of key parameter for gain lookup.
9 If set, disable gain scheduling until the position encoder is referenced.
0x128 0x129 0x528 0x2371 R INT32 Gain scheduling key parameter value. When gain scheduling is enabled, the current
value of the key parameter is stored here. When this parameter is selected as the
key parameter for gain scheduling, then it may be written to manually move through
entries in the gain scheduling table.
0x129 0x12A 0x529 0x6510:29
or
0x2384:29
R INT32 Amplifier Hardware Options. Reserved for Copley Controls use.
CAN ID 0x6510 is no longer recommended. Please use 0x2384.
0x12A 0x12B 0x52A 0x2222 F INT32 Motor Encoder Options. Specifies various configuration options for the motor
encoder. The mapping of option bits to function depends on the encoder type.
Quadrature Encoder
Bits Description
0 If set, ignore differential signal errors (if detected in hardware) .
1 If set, use single ended inputs (if available in hardware).
2 Ignore differential signal errors on index input only (if supported by hardware).
EnDat Encoder
Bits Description
0-4 Number of bits of single turn data available from encoder.
Copley Controls Page 57