Copley Controls Serial Encoder Guia do Utilizador descarregar pdf (Página 40)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0x10E8 BP2-R: 2 axis Accelnet Plus Panel CAN resolver version

0x10F0

TE2: 2 axis Stepnet Plus Panel EtherCAT

0x1100

TP2: 2 axis Stepnet Plus Panel CAN

0x1110

BEL: 1 axis Accelnet Plus Panel EtherCAT

0x1118

BEL-R: 1 axis Accelnet Plus Panel EtherCAT resolver version

0x1120

BPL: 1 axis Accelnet Plus Panel CAN

0x1128 BPL-R: 1 axis Accelnet Plus Panel CAN resolver version

0x1130

TEL: 1 axis Stepnet Plus Panel EtherCAT

0x1150

SP4: 4 axis Stepnet Plus Module CAN

0xAE

0xAF

0x4AE

0x60F6:3

INT16

Current Loop Offset. This value is added to the commanded motor current. It can

compensate for a directional bias affecting the current loop. Units: 0.01 A.

0xAF

0xB0

0x4AF

0x2420

INT32

Miscellaneous Drive Options Register. Bit-mapped as follows:

Bits

Option

If set, input pins 1, 2, and 3 are pulled high on the drive. If clear, the pins are not pulled up.

This option is only available on the Junus drive.

1 Reserved.

If set, limit switch inputs will only abort a trajectory in progress, but will not affect current

output. If clear, limit switches limit current.

3 If set, save PDO configuration to a file in the CVM file system when a “Save to Flash”

command is received over the CANopen network. If clear, a PDO is not saved.

If set, a limit switch activation will be treated as a fault in the CANopen Status Word

(CANopen index 0x6041 as described in the CANopen Programmer’s Manual).

5-31

Reserved.

0xB0

0xB1

0x4B0

0x2260

INT16

Motor Phase Angle. Writes are only useful when running in diagnostic micro-stepping

mode. Units: degrees.

0xB1

0xB2

0x4B1

0x21C1

INT16

Increment Rate For Phase Angle When In Micro Stepping Mode. Only used in

diagnostic micro-stepping mode. Desired State (0x24) = 42 (microstepping mode).

Units: degrees/s.

0xB2

0xB3

0x4B2

0x21C0

U16

Commutation Mode. Also known as Phasing Mode. Controls the mechanism used by

the drive to compute the motor phasing angle. Determines what inputs the drive uses

to initialize and maintain the phase angle, as follows:

Value

Mode

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