Copley Controls Serial Encoder Guide de l'utilisateur télécharger pdf (Page 23)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0x68

0x69

0x468

0x2402

INT32

Captured Index Position. Provides the position that the axis was in when an index

pulse was captured. Configured by setting bits in the Position Capture Control

Capture Status Register (0x6D). Reading this variable resets bits 0 & 3 of the

Position Capture Status Register (0x6D). Units: counts.

0x69

0x6A

0x469

0x2232

INT32

Unfiltered Motor Encoder Velocity. Units 0.1 counts/s.

0x6A

0x6B

0x46A

0x2113

INT32

Commanded Current Ramp Limit. Setting this to zero disables slope limiting.

Units: mA/s.

0x6B

0x6C

0x46B

0x2108

9 or 14

Velocity Loop Command Filter Coefficients. A bi-quad filter structure that acts on the

command input of the velocity loop just after velocity & acceleration limiting. 9 word

parameter, see Velocity Loop Filters in the CME 2 User Guide. 14 word parameter

(Plus product only), see Filter Coefficients (p. 73).

0x6C

0x6D

0x46C

0x2400

INT16

Position Capture Control Register. Sets up position capture based on the index or

home input. Bit-mapped as follows:

Bits

Description

If set, the Captured Index Position (0x68) is captured on the falling edge of the index.

If set, the Captured Index Position (0x68) is captured on the rising edge of the index.

2 If set, a Captured Index Position (0x68) value will not be overwritten by a new position until it

has been read. If clear, new positions will overwrite old positions.

3, 4

Reserved.

If set, Captured Home Position (0x10A) will be captured on the active to inactive edge of the

home input switch. If clear, the home position will be captured on the inactive to active edge.

If set, Captured Home Position (0x10A) will not be overwritten by a new position until it has

been read.

If clear, new positions will overwrite old positions.

7 Reserved.

If set, enable high speed input position capture..

If set, don't overwrite high speed input capture positions.

If set, latch high speed position capture.

Clear actual position on every encoder index pulse.

0x6D

0x6E

0x46D

0x2401

INT16

Position Capture Status Register. This register shows the current status of the

index/home capture mechanism. Bit-mapped as follows:

Copley Controls Page 23

1 2 ... 18 19 20 21 22 23 24 25 26 27 28 ... 76 77

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Copley Controls Serial Encoder Guide de l'utilisateur Page 23

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