CANopen Programmer's Manual - Maccon.de

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A: Alternative Control Sources CANopen Programmer’s Manual MOTOR TEMP SENSOR VOLTAGE INDEX 0X2209 Type Access Units Range Map PDO Memory Integer16 R mV - YES R Description Present voltage at analog motor temperature sensor. MOTOR TEMP SENSOR LIMIT INDEX 0X220A Type Access Units Range Map PDO Memory Integer16 RW mV - YES RF Description Limit for analog motor temperature sensor. If this parameter is set to zero, then the analog motor temperature sensor is disabled. If this parameter is set to a positive value, then a motor temperature error will occur any time the voltage on the motor temperature input exceeds this value (in millivolts). If this parameter is negative, then a motor temperature error will occur any time the voltage on the motor temperature input is lower than the absolute value of this limit in millivolts. PWM INPUT FREQUENCY INDEX 0X2322 Type Access Units Range Map PDO Memory Unsigned 16 RW 10 Hz - YES RF Description This is the frequency of the PWM for use only in UV commutation mode (Desired State object [index 0x2300, p. 65[ = 5). FUNCTION GENERATOR CONFIGURATION INDEX 0X2330 Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. YES RF Description Configures the amplifier’s internal function generator, which can drive the current, velocity, or position loop. Bit-mapped: Bits Description 0-1 Function code. 2-11 Reserved for future use. 12 One-shot mode. If set, the function code is reset to zero (disabled) after one complete waveform. 13 Invert every other waveform if set. 14-15 Reserved for future use. The function code programmed into bits 0-1 defines the type of waveform to be generated: Code Describe 0 None (disabled) 1 Square wave. 2 Sine wave. Note that the amplifier is placed under control of the function generator by setting the Desired State object (index 0x2300, p. 65) to one of the following values: 4 (function generator drives current loop); 14 (function generator drives velocity loop); 24 (function generator drives position loop in servo mode); 34 (function generator drives position loop in stepper mode). 228 Copley Controls
CANopen Programmer’s Manual A: Alternative Control Sources FUNCTION GENERATOR FREQUENCY INDEX 0X2331 Type Access Units Range Map PDO Memory Unsigned 16 RW Hz 0 – 32,767 YES RF Description This object gives the frequency of the internal function generator. FUNCTION GENERATOR AMPLITUDE INDEX 0X2332 Type Access Units Range Map PDO Memory Integer 32 RW See Description, below See Description, below YES RF Description The amplitude of the signal generated by the internal function generator. The units depend on the servo operating mode: Mode Units Current 0.01 Amps Velocity 0.1 counts/second. Position Counts. FUNCTION GENERATOR DUTY CYCLE INDEX 0X2333 Type Access Units Range Map PDO Memory Unsigned 16 RW 0.1 percent 0 – 1,000 YES RF Description This object gives the function generator duty cycle for use with the square wave function. It has no effect when running the sine function. CAMMING CONFIGURATION INDEX 0X2360 Type Access Units Range Map PDO Memory Unsigned 16 RW - - YES RF Description Configures Camming Mode operation: Bits Description 0-3 ID Number of the Cam Table to use (0-9) 4 Reserved. 5 If set, exit table in forward direction. 6 If set, use the Camming Internal Generator. The internal generator runs at the constant velocity programmed in Cam Master Velocity (index 0x2363, p. 230). If clear, use digital command input as configured in using Copley’s CME 2 software camming controls or Input Pin States (index 0x2190, p. 116) 7 If set, run tables stored in RAM. If clear, use tables stored in the flash file system. 8-11 Input number to use as Cam Trigger. Note: a value of 0 selects IN1, value of 1 selects IN2, etc. 12-13 Cam Trigger type: Value Type 0 None (Continuous): The active Cam Table is repeated continuously. 1 Use Input, Edge: The active Cam Table begins executing on the rising edge of the input pin selected by bits 8-11. 2 Use Input, Level: The active Cam Table will run as long as the input selected by bits 8-11 is high. 3 Use Master (Secondary) Encoder Index: The active Cam Table is executed when the amplifier receives an index pulse from the Master encoder. Index pulses received during execution are ignored. Copley Controls 229
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About this Manual CANopen Programme
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