Copley Controls Serial Encoder Betriebsanweisung PDF herunterladen (Seite 55)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

position capture is enabled and the time is recent enough for the data to be

available. The calculated position may be read from Captured Position for High

Speed Position Capture. Units: microseconds.

0x111

0x112

0x511

0x2405

INT 32

Captured Position for High Speed Position Capture. Units: counts.

0x112

0x113

0x512

0x2242

INT 32

Position Encoder Position. This is also the passive load position when used in

passive mode. Units: counts.

0x113

0x114

0x513

0x1015

INT16

CANopen emergency inhibit time. Units: milliseconds.

0x114

0x115

0x514

0x2381:5

U16

Velocity loop Drain (integral bleed). Modifies the effect of velocity loop integral gain.

The higher the Vi Drain value, the faster the integral sum is lowered. Range: 0 to 32K

Default: 0.

0x115

0x116

0x515

0x2010

Words

Trajectory buffer access. This object can be used to load data into the drive's internal

trajectory buffer, or send commands used to control the buffer. The trajectory buffer

holds trajectory segments used in PVT mode. Data passed to the parameter consists

of a 16-bit command code, followed by up to two 32-bit parameters. The first word

passed to this parameter is bit-mapped. The data contained in this word identifies

this access as either a buffer command, or a trajectory segment to be loaded into the

buffer. If the most significant bit of the first word is set, then the write is treated as a

command code. In this case no additional data is passed and the first word is

formatted as follows:

Bits

Description

0-7 Command data.

8-9

Command code.

10-14

Reserved.

Always set for buffer commands.

The following command codes are supported:

Code

Description

Clear the buffer and abort any move in progress.

Pop the N most recently sent segments off the buffer. PVT profiles will continue to run as

long as the buffer doesn't underflow. The number of segments to pop (N) is passed in the

command data area. If there are less than N segments on the buffer, this acts the same as a

buffer clear, except that the profile is not stopped except by underflow.

To write data to the trajectory buffer, the MSB of the first word should be clear. In this

case the first word is formatted as follows:

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