Copley Controls Serial Encoder Betriebsanweisung PDF herunterladen (Seite 46)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

3 PVT profile mode. Use of this mode through the serial interface is not presently

supported.

If set, this is a relative move. If clear, this is an absolute move.

Valid settings for this parameter:

Value

Description

Absolute move, trapezoidal profile.

1 Absolute move, S-curve profile.

256

Relative move, trapezoidal profile.

257

Relative move, S-curve profile.

Velocity profile.

0xC9

0xCA

0x4C9

0x2252

INT16

Trajectory Status Register. This parameter gives status information about the

trajectory generator. Bit-mapped as follows:

Bits

Description

0-8

Reserved for future use.

9 Cam table underflow.

10 Reserved for future use.

Homing error. If set, an error occurred in the last home attempt. Cleared by a home

command.

12 Referenced. Set when a homing command has been successfully executed. Cleared by a

home command.

Homing. If set, the drive is running a home command.

Set when a move is aborted. Cleared at the start of the next move.

15 In-Motion Bit. If set, the trajectory generator is presently generating a profile.

0xCA

0xCB

0x4CA

0x607A

INT32

Trajectory Generator Position Command. Units: Counts.

Meaning depends on move type as described below:

Move Type

Meaning

Relative

Move distance.

Absolute

Target position.

Velocity

Direction: 1 for positive, -1 for negative.

0xCB

0xCC

0x4CB

0x6081

INT32

Trajectory Maximum Velocity. The trajectory generator will attempt to reach this

velocity during a move. Units: 0.1 counts/s.

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