
Parameter Dictionary Parameters
Stepper Configuration & Status. Bit-mapped as follows:
Use the encoder input for phase compensation if enabled. Pure stepper mode if disabled.
1 Use on outer position loop to adjust the stepper position based on Position Loop Error
(0x35). When this bit is set, the gain value Maximum Velocity Adjustment (0xE6) is multiplied
by the Position Loop Error (0x35), and the result is a velocity that is added to the
microstepping position.
2-15 Reserved.
Debounce Time For Input 0. Units: ms.
0xF1 0xF2 0x4F1 0x2195:2 RF U16 Debounce Time For Input 1. Units: ms.
Debounce Time For Input 2. Units: ms.
Debounce Time For Input 3. Units: ms.
Debounce Time For Input 4. Units: ms.
Debounce Time For Input 5. Units: ms.
Debounce Time For Input 6. Units: ms.
Debounce Time For Input 7. Units: ms.
Debounce Time For Input 8. Units: ms.
Debounce Time For Input 9. Units: ms.
Debounce Time For Input 10. Units: ms.
Debounce Time For Input 11. Units: ms.
Debounce Time For Input 12. Units: ms.
Debounce Time For Input 13. Units: ms.
Debounce Time For Input 14. Units: ms.
Debounce Time For Input 15. Units: ms.
CANopen Limit Status Mask. This parameter defines which bits in the Drive Event
Status Register (0xA0) can set the limit bit (bit 11) of the CANopen Status Word
(CANopen index 0x6041 as described in the CANopen Programmer’s Manual). If a
Drive Event Status Register (0xA0) bit and its corresponding Limit Mask bit are both
set, then the CANopen Status Word limit bit is set. If all selected Drive Event Status
Copley Controls Page 49
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