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 />
0x151 0x152 0x551 0x210B RF 14 Third chained biquad filter on output of velocity loop. 14 word <strong>parameter</strong>, see Filter<br />
Coefficients (p. 65).<br />
0x152 0x153 0x552 0x210C RF 14 First chained biquad filter on input of current loop. 14 word <strong>parameter</strong>, see Filter<br />
Coefficients (p. 65).<br />
0x153 0x154 0x553 0x210D RF 14 Second chained biquad filter on input of current loop. 14 word <strong>parameter</strong>, see Filter<br />
Coefficients (p. 65).<br />
0x154 0x155 0x554 0x2301 RF INT32 Servo loop configuration. This <strong>parameter</strong> allows various parts of the <strong>amplifier</strong> servo<br />
loops to be enabled/disabled. It’s mapped as follows:<br />
0x155 0x156 0x555 0x60FB:5<br />
or<br />
0x2382:5<br />
0x156 0x157 0x556 0x60FB:6<br />
or<br />
0x2382:6<br />
0x157 0x158 0x557 0x60F9:6<br />
or<br />
0x2381:6<br />
0x158 0x159 0x558 0x60FB:7<br />
or<br />
0x2382:7<br />
Bits Description<br />
0 If set, this disables the velocity loop gains. The velocity loop command feed forward gain<br />
(<strong>parameter</strong> 0x157) is still active as are the velocity loop output filters.<br />
1 If set, this enables the position loop I and D gains (<strong>parameter</strong>s 0x155 and 0x156). If clear,<br />
these <strong>parameter</strong>s are treated as zeros.<br />
2-31 Reserved for future use.<br />
RF INT16 Position loop integral gain (KI). CAN ID 0x60FB is no longer recommen<strong>de</strong>d. Please<br />
use 0x2382.<br />
RF INT16 Derivative gain for position loop (KD). CAN ID 0x60FB is no longer recommen<strong>de</strong>d.<br />
Please use 0x2382.<br />
RF INT16 Velocity loop command feed forward. The input command (after limiting) to the<br />
velocity loop is scaled by this value and ad<strong>de</strong>d in to the output of the velocity loop.<br />
CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use 0x2381.<br />
RF INT16 Integral drain for position loop. CAN ID 0x60FB is no longer recommen<strong>de</strong>d. Please<br />
use 0x2382.<br />
0x159 0x15A 0x559 0x6007 RF INT16 Abort option co<strong>de</strong> for CANopen / EtherCAT drives.<br />
<strong>Copley</strong> Controls Page 62
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