Copley Controls Serial Encoder Guia do Utilizador descarregar pdf (Página 13)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0x15

0x16

0x415

0x221D

INT16

Commanded Motor Current. This is the value that is presently being sent to the

current loop. It may come from the programmed value, analog reference, velocity

loop, etc. depending on the drive’s desired state. Units: 0.01 A.

0x17

0x18

0x417

0x6064

INT32

Actual Position. For dual encoder systems this is the load encoder position. See

Actual Motor Position (0x32) for motor encoder position. Units: Counts.

CANopen objects 0x6064 and 0x6063 hold the same value.

0x18

0x19

0x418

0x6069

INT32

Actual Velocity. Units: 0.01 RPM for Junus, microsteps/s for Stepnet in stepper

mode, 0.1 encoder counts/s for all other products.

0x19

0x1A

0x419

0x2310

INT32

Analog reference scaling factor. This value is used to scale the analog reference

input voltage to a command that will be used to drive the current or velocity loop

(depending on drive state).

When in current mode (Desired State (0x24) = 2), the value programmed specifies

the amount of current to be commanded when ten volts is applied to the analog

input. This value is input in 0.01 A units. For example, to command 12 amps at 10

volts the scaling factor would be 1200.

When in velocity mode (Desired State (0x24) = 12), the value programmed specifies

the commanded velocity corresponding to ten volts on the input. Units: 0.01 RPM for

Junus, microsteps/s for Stepnet in stepper mode, 0.1 encoder counts/s for all other

products.

When in position mode (Desired State (0x24) = 22 or 32), the value programmed

specifies the position (in encoder counts) that the drive will be commanded to for a

+10 volt input.

0x1A

0x1B

0x41A

0x2311

INT16

Offset Value applied to analog reference input. Units: mV.

0x1B

0x1C

0x41B

0x2205

INT16

Analog Encoder Sine Input Voltage. Also known as Sine Feedback Voltage.

Units: 0.1 mV.

0x1C

0x1D

0x41C

0x2206

INT16

Analog Encoder Cosine Input Voltage. Also known as Cosine Feedback Voltage.

Units: 0.1 mV.

0x1D

0x1E

0x41D

0x2200

INT16

Analog Reference Input Voltage. Also known as A/D Reference Input Voltage.

Units: mV.

0x1E

0x1F

0x41E

0x2201

INT16

High Voltage A/D Reading. The voltage present on the high-voltage bus. Units: 100

mV.

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