Parameter Dictionary Part Number 16-01091 Revision 01 September 2014
Parameter Dictionary Copley Controls 2
Parameter Dictionary TABLE OF CONTENTS About This Manual ............................................................................................................ 4 1: Introduction................................................................................................................. 8 1.1: Scope and Purpose of this Document ................................................................... 9 1.2: Organization of the Parameter Listings ..........................................................
Parameter Dictionary About This Manual ABOUT THIS MANUAL Overview and Scope This manual provides cross-referenced definitions of the parameters used to program and operate Copley Controls drives.
Parameter Dictionary About This Manual Copyrights No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Copley Controls. Xenus, Accelnet, Stepnet, Accelus, and Junus are registered trademarks of Copley Controls. CME 2 is a registered trademark of Copley Controls. MACRO is a registered trademark of Delta Tau Corp. Document Validity We reserve the right to modify our products.
Parameter Dictionary About This Manual Latching an output does not eliminate the risk of unexpected motion with non-latched faults. Associating a fault with a latched, custom-configured output does not latch the fault itself. After the cause of a non-latched fault is corrected, the drive re-enables without operator intervention. In this case, motion may re-start unexpectedly.
Parameter Dictionary Copley Controls About This Manual Page 7
CHAPTER 1: INTRODUCTION Copley Controls Page 8
Parameter Dictionary Introduction 1.1: Scope and Purpose of this Document This document provides a listing and definitions of the parameters used to program and operate Copley Controls drives. These parameters can be accessed using any of several communication interfaces, each with its own protocol and set of IDs for the parameters. There are many CANopen and EtherCAT objects for which there are no direct correlations to Copley drive parameters.
Parameter Dictionary Introduction Cross references for each parameter include, where applicable, the equivalent DeviceNet variable ID, MACRO I-variable ID, and CANopen (and EtherCAT) object index and sub-index. 1.3: Important Notes 1.3.1: CME 2 Refresh Behavior When parameters are changed using one of the interfaces described in this manual, the changes will not necessarily be recognized by an active CME 2 session. 1.3.
CHAPTER 2: PARAMETERS Copley Controls Page 11
Parameter Dictionary Parameters 2.1: Parameters Sorted by ASCII Interface Parameter ID ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x00 0x01 0x400 0x2380:1 RF U16 Current Loop Proportional Gain (Cp). 0x01 0x02 0x401 0x2380:2 RF U16 Current Loop Integral Gain (Ci). 0x02 0x03 0x402 0x2340 RF INT16 Current loop programmed value. This current will be used to command the drive when Desired State (0x24) is set to 1. Units: 0.01 A.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x15 0x16 0x415 0x221D R* INT16 Commanded Motor Current. This is the value that is presently being sent to the current loop. It may come from the programmed value, analog reference, velocity loop, etc. depending on the drive’s desired state. Units: 0.01 A. 0x17 0x18 0x417 0x6064 R INT32 Actual Position. For dual encoder systems this is the load encoder position.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x20 0x21 0x420 0x2202 R* INT16 Dive temperature A/D Reading. Units: degrees C. 0x21 0x22 0x421 0x2110 RF INT16 0x22 0x23 0x422 0x2111 RF INT16 0x23 0x24 0x423 0x2112 RF U16 Peak Current Limit. Also known as Boost current on stepper drives. This value cannot exceed the peak current rating of the drive. Units: 0.01 A. Continuous Current Limit.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 40 41 42 The microstepper is controlled by the CANopen or EtherCAT interface. Reserved Simple micro-stepping mode. For diagnostic use only. 0x25 0x26 0x425 0x221E R* INT16 Limited Motor Current Command. Units: 0.01 A. 0x26 0x27 0x426 0x2313 RF INT16 Analog Reference Input Deadband. Deadband window value applied to the analog command input. Units: mV.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x32 0x33 0x432 0x2240 R* INT32 Actual Motor Position. Also known as Motor Encoder Position. For dual encoder systems, this parameter gives the motor encoder position. For single encoder systems, this is the same as the Actual Position Parameter (0x17). Units: counts. 0x33 0x34 0x433 0x2382:2 RF U16 Position Loop Velocity Feed Forward (Vff).
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x3D 0x3E 0x43D 0x2122 R* INT32 Trajectory Destination Position. This is the position that the trajectory generator is using as its destination. Units: encoder counts. 0x3E 0x3F 0x43E 0x2104 RF INT32 Velocity Window. If the absolute value of the velocity loop error exceeds this, then the velocity window bit in the event status word will be set. Units: 0.1 counts/s.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB 0x4C 0x4D 0x44C 0x4D 0x4E 0x4E Type Description 0x2383:14 F INT32 Motor Continuous Torque. Units: 0.00001 Nm units. 0x44D 0x2383:11 F INT32 Motor Max Velocity. Units: 0.1 encoder counts/s. 0x4F 0x44E 0x2383:3 F U16 Motor Wiring. 0=standard, 1= drive’s U and V outputs are swapped. 0x4F 0x50 0x44F 0x2383:6 RF INT16 0x50 0x51 0x450 0x2383:4 F INT16 Motor Hall Offset.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB 0x53 0x54 0x453 0x54 0x55 0x55 Bank Type Description 0x2383:17 F U16 Motor Brake Activation Time. Units: ms. 0x454 0x2383:18 F U16 Motor Brake Delay Time. After the brake output is activated, the drive will stay enabled for this amount of time to allow the brake to engage. Units: ms. 0x56 0x455 0x2383:19 F INT32 Motor Brake Activation Velocity. Also known as Motor Brake Velocity (CANopen).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 0 No adjustment, 1 count on the encoder is 1 output count. 1 Double the number of encoder counts. 2 Divide the encoder counts by 2. 3 Divide the encoder counts by 4. 4 Divide the encoder counts by 8. 5 Divide the encoder counts by 16. 6 Divide the encoder counts by 32. 7 Divide the encoder counts by 64. 8 Divide the encoder counts by 128. 9 Divide the encoder counts by 256.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 14 15 If set, then don't use this encoder for position feedback. Reserved. Original encoding (bit 12 not set): 0-3 4 5 6-15 Encoder hardware to use: 0 No load encoder present. 1 Primary (differential) quad encoder. 2 Analog encoder. 3 Secondary quad encoder from input lines. 4 Servo tube / analog halls. 5 Resolver 11 Endat absolute encoder 12 SSI serial encoder. 13 BiSS absolute encoder.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 7 8 9 10 11 12 13 14 15 16 17 18 19 0x61 0x62 0x461 0x2383:21 F INT16 Analog encoder updated at current loop rate. Reserved for custom encoder. Panasonic SPI command (reserved for custom firmware use). EnDat SSI BiSS Serial encoders from Sanyo Denki, Tamagawa, Panasonic and HD systems. Custom encoders from HD systems. Simple analog potentiometer feedback. Reserved for custom encoder.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x68 0x69 0x468 0x2402 R* 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 Register (0x6C), and the status of the captured data can be checked in the Position Capture Status Register (0x6D). Reading this variable resets bits 0 & 3 of the Position Capture Status Register (0x6D).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type 0x6E 0x6F 0x46E 0x2383:34 F INT16 0x6F 0x70 0x46F 0x2140 INT16 RF Description Bits Description 0 If set, an index position has been captured. Cleared when the captured position is read. 1-2 Reserved. 3 If set, a new index transition occurred when a captured position was already stored. Depending on the mode, the new position may have been discarded, or overwritten the previously stored position.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description The first word is a bit-mapped configuration value. The remaining words give additional parameter data used by the output pin. Typically the second and third words are used as a 32-bit mask to identify which bit(s) in the status register the output should follow. If any of the selected bits in the status register are set, then the output will go active.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 11 16 5-7 8 9 For EtherCAT drives, pulse on the SYNC0 signal. Track hardware position compare function on drives supporting it. Reserved for future use. Inverts normal active state of output if set. E.g., outputs that are normally active low become active high. If set, program the output as a sync output. This bit is reserved for all output pins except pin 0. 10-11 Reserved for future use.
Parameter Dictionary ASCII DvcNet Copley Controls Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 6* Negative side limit switch. Active high. 7* Negative side limit switch. Active low. 8* Motor temperature switch. Active high. 9* Motor temperature switch. Active low. 10* Clear faults on rising edge, disable while high. 11* Clear faults on falling edge, disable while low. 12* Reset on rising edge. Disable drive while high. 13* Reset on falling edge. Disable drive while low.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 40* Update trajectory on rising edge. 41* Update trajectory on falling edge. 42* Clear faults & event latch on rising edge. 43* Clear faults & event latch on falling edge. 44* Disable simulated encoder output when low. Burst current position on encoder output on rising edge. 45* Disable simulated encoder output when high. Burst current position on encoder output on falling edge.
Parameter Dictionary Parameters ASCII DvcNet MACRO 0x87 0x88 0x487 0x88 0x89 0x89 CAN/ECAT IDX:SUB Bank Type Description None F* U16 0x488 0x2384: 5 F* INT16 0x8A 0x489 0x2384:6 F* INT16 Product Family. Identifies the drive product family. For specific drive hardware type, see Drive Hardware Type (0xAD). Drive’s rated Time At Peak Current. The maximum time for which the drive is rated to output peak current. Units: ms. Drive’s rated Maximum Voltage. Maximum bus voltage rating.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 0 None (disabled). 1 Square wave. 2 Sine wave. 2-7 Reserved for future use. 8 If set, the function generator frequency is in units of 0.01 Hz. If clear, the frequency is in units of Hz. 9-11 Reserved. 12 One-shot mode if set. If bit 12 is set and bit 13 is clear, the function code is reset to zero (disabled) after one complete waveform.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description Velocity 0.1 counts/s. Position Counts. 0x9B 0x9C 0x49B 0x2333 RF U16 Function Generator Duty Cycle (square wave only). Units: 0.1% (for instance, 1000 for 100%). 0x9C 0x9D 0x49C 0x2384:8 F* U16 Hysteresis For Maximum Bus Voltage Cut-Out. Units: 0.1 V. 0x9D 0x9E 0x49D 0x2384:18 F* U16 PWM Dead Time At Continuous Current Limit.
Parameter Dictionary ASCII 0xA1 DvcNet 0xA2 Copley Controls Parameters MACRO 0x4A1 CAN/ECAT IDX:SUB 0x2181 Bank R Type U32 Description 14 Motor brake activated. 15 PWM outputs disabled. 16 Positive software limit condition. 17 Negative software limit condition. 18 Tracking error. 19 Tracking warning. 20 Drive is currently in a reset condition. 21 Position has wrapped. The Position variable cannot increase indefinitely. After reaching a certain value the variable rolls back.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xA2 0xA3 0x4A2 0x2261 R* INT16 Hall Input State. The lower three bits of the returned value give the present state of the Hall input pins. The Hall state is the value of the Hall lines AFTER the ordering and inversions specified in the Hall wiring configuration have been applied. 0xA4 0xA5 0x4A4 0x2183 R U32 Latching Fault Status Register.
Parameter Dictionary ASCII 0xA6 DvcNet 0xA7 Parameters MACRO 0x4A6 CAN/ECAT IDX:SUB 0x2190 Bank R* Type U16 Description This register has one bit for each pull-up resistor available on the drive. Setting the bit causes the resistor to pull any inputs connected to it up to the high state when they are not connected. Bits 0 – 7 of this register are used to control pull-up resistor states. Each bit represents an input number. Bit 0 = IN1, bit 1 = IN2, etc.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xA7 0xA8 0x4A7 0x2182 RF U32 Fault Mask. This variable is used to configure which drive events cause latching faults. Setting a fault mask bit to 1 causes the associated drive event to cause a latching fault when it occurs. Setting a fault mask bit to 0 disables fault latching on the associated event. Latched faults may be cleared using the Latching Fault Status Register (0xA4).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description occurs. If clear: programs the drive to abort the current move and remain enabled when a tracking error occurs. 0xA8 0xA9 Copley Controls 0x4A8 0x2320 RF INT16 2 10 If set: programs the drive to latch a fault when output current is limited by the I T algorithm. 11 FPGA failure. This bit is read-only. 12 Command input lost fault.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description Value Description 0 Step & Direction mode. 1 Separate up & down counters. 2 Quadrature encoder input. 3 PWM input commands absolute position. 10-11 Reserved for future use. 12 Pulses are counted on their falling edge if this bit is clear, rising edge if set. This bit has no effect when the inputs are configured as encoder inputs. 13 Causes the direction of the input to be reversed.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description active/inactive state of the drive’s general-purpose digital outputs. Each bit represents an input number. Bit 0 = digital output 0 (OUT0), bit 1 = output 1 (OUT1), etc., up to output n (OUTn), the number of digital outputs on the drive. Additional bits are ignored. Outputs that have been configured for program control can be set by writing to this parameter. Set a bit to activate the output.
Parameter Dictionary ASCII DvcNet Copley Controls Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 0x0240 STM: Stepnet Module. 0x0242 STP: Stepnet Panel. 0x0243 STL: Stepnet Micro Module. 0x0300 ASP: Accelnet Panel, dual axis. 0x0310 XSJ(S): Xenus Micro Panel. 0x0320 XTL: Xenus Panel, resolver version. 0x0330 XTL(S): Xenus Panel. 0x0340 XSJ-R: Xenus Micro Panel, resolver version. 0x0380 AEP: Accelnet EtherCAT Panel. 0x0391 AMP: Accelnet Macro Panel.
Parameter Dictionary ASCII DvcNet Parameters 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 Pl
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 0 Standard mode. Encoder-based sinusoidal commutation for brushless motors. Use digital Hall inputs to initialize phase, then switch to an encoder to maintain phase. The encoder is the primary sensing device with the Hall effect sensors used to monitor and adjust the phase angle as necessary during operation. 1 Trapezoidal (Hall based) phasing. The Hall sensors are used for phasing all the time.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description referenced (i.e. homing has been successfully completed). Set to greater than positive software limit to disable. Units: counts. 0xBA 0xBB 0x4BA 0x2120 RF INT32 Position Tracking Error Limit. Also known as Tracking Error Window. If the Position Loop Error (0x35) exceeds this value then the tracking error bit (bit 18) of the Drive Event Status Register (0xA0) is set and the motor is stopped.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 0-6 Give the node ID offset value that will be added to the value read from the input pins and address selector switch. 7 Used only on DeviceNet firmware. If this bit is set, then the drive will be software disabled on startup and will remain disabled until it is enabled by a DeviceNet I/O message with the enable bit set. 8-10 Number of input pins (0-7) to read on startup for the node ID value.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description home. Bit 6 is not used in this mode. 1 Move in the direction specified by bit 4 until a limit switch is encountered. Then move in the other direction out of limit. If bit 5 is clear, then the edge location is home. If bit 5 is set, then the next index pulse is home. Bit 6 not used in this mode. 2 Home on a constant home switch. The initial move is made in the direction specified by bit 4.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xC3 0xC4 0x4C3 0x6099:1 RF INT32 Homing Velocity (fast moves). This velocity value is used during segments of the homing procedure that may be handled at high speed. Generally, this means moves in which the home sensor is being located, but the edge of the sensor is not being found. Units: 0.1 counts/s. 0xC4 0xC5 0x4C4 0x6099:2 RF INT32 Homing Velocity (slow moves).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 3 8 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: 0xC9 0xCA 0xCB 0xCA 0xCB 0xCC Copley Controls 0x4C9 0x4CA 0x4CB 0x2252 0x607A 0x6081 R* RF RF INT16 INT32 INT32 Value Description 0 Absolute move, trapezoidal profile.
Parameter Dictionary Parameters ASCII DvcNet MACRO 0xCC 0xCD 0xCD Bank Type Description 0x4CC 0x6083 RF U32 Trajectory Maximum Acceleration. The trajectory generator will attempt to reach this acceleration during a move. For s-curve profiles, this value is also used to decelerate 2 at the end of a move. Units: 10 counts/s . 0xCE 0x4CD 0x6084 RF U32 Trajectory Maximum Deceleration. In trapezoidal trajectory mode, this value will be used to decelerate at the end of a move.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xE2 0xE3 0x4E2 0x2157 R* INT16 Regen Resistor Status. Bit-mapped as follows: Bits Description 0 Set if the regen circuit is currently closed. 1 Set if regen is required based on bus voltage. 2 Set if the regen circuit is open due to an overload condition. The overload may be caused by either the resistor settings or the internal drive protections. 3-15 Reserved.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xEE 0xEF 0x4EE 0x21D6 RF INT16 Stepper Configuration & Status. Bit-mapped as follows: Bits Description 0 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).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description Register (0xA0) bits are clear, then the limit bit is clear. 0x101 0x102 0x501 0x2197 R* INT16 Network Address Switch Value. This gives the current state of the CAN address switch. For drives without a switch, the value returned is undefined. 0x102 0x103 0x502 0x21B4 R* INT16 Network Status Word. Bit-mapped as follows: CANopen Bits Meaning 0-1 CANopen node status.
Parameter Dictionary ASCII 0x103 DvcNet 0x104 Copley Controls Parameters MACRO 0x503 CAN/ECAT IDX:SUB 0x21B1 Bank F Type U32 Description 1 Set if the drive is being disabled by the MACRO master. 2 Set if the MACRO network has been broken (i.e., once detected but now gone). 3 Set on heartbeat error. 4-15 Reserved. Input Pin Mapping For Node ID Selection.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description If bit 31 is zero, then a default bit mapping is used and the rest of this register is ignored. The default bit mapping uses the top N input pins and maps them such that the high numbered pins are used for higher numbered bits in the ID. For example; the Accelnet panel drive has 12 general-purpose input pins (0 to 11).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 5 6 7 8-11 12-14 If set, exit table in forward direction. If set, use the Camming Internal Generator. The internal generator runs at the constant velocity programmed in Camming Master Velocity (0x109). If clear, use digital command input as configured in using Copley’s CME 2 software camming controls or Input Pin States (0xA6). If set, run tables stored in RAM.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description bits 4 & 7 of the Position Capture Status Register (0x6D). Units: counts. 0x10B 0x10C 0x50B 0x2422 R* U32 Firmware Version Number (extended). The upper 16 bits give the same major/minor version number as Firmware Version Number (0x94). The lower 16 bits hold a release number (upper byte) and a reserved byte (lower). 0x10C 0x10D 0x50C 0x1017 RF U16 CANopen Heartbeat Time.
Parameter Dictionary ASCII DvcNet Parameters 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 R* INT 32 Captured Position for High Speed Position Capture. Units: counts. 0x112 0x113 0x512 0x2242 R INT 32 Position Encoder Position.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0-7 Segment time in milliseconds. 8-11 Reserved. 12 Set for relative positions; clear for absolute positions. 13-14 Reserved. 15 Always zero for data writes. When writing a new PVT segment to the trajectory buffer, this first word is always followed by a 32-bit position value.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0-1 Identify units for current readings: 0 0.01 A 1 0.001 A 2 0.0001 A 3 0.00001 A 2-7 8-9 10-31 Reserved Identify units for voltage readings: 0 0.1 V 1 0.01 V 2 0.001 V 3 0.0001 V Reserved 0x120 0x121 0x520 0x2384:25 R* INT16 Returns the number of axis implemented by this drive. 0x121 0x122 0x521 0x21B3 INT16 Network options. Configures the drive’s network.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 2 If set, return the primary encoder index state (high/low) in the home status bit of the MACRO status word. If clear, the state of any general purpose input configured as a home input will be used. 3 If set, the drive will attempt to synchronize its current loop update period to the MACRO ring period. The ring period must be an integer multiple of the drive's PWM period (parameter 0x85).
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 4-7 0x126 0x127 Copley Controls 0x526 0x2384:27 R* INT16 0 Capture on edge of encoder index. 1 Capture using a general purpose input pin. 2-15 Reserved. Input pin number to use if using capture type 1. 8 Active level; high if clear, low if set. 9 If set, capture is re-enabled immediately when the capture position is read (using I-variable 921).
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x127 0x128 0x527 0x2370 RF U32 Gain scheduling configuration: 0x128 0x129 0x528 0x2371 0x129 0x12A 0x529 0x12A 0x12B 0x52A R Bits Meaning 0-2 Key parameter for gain scheduling. Value Description 0 None. Setting the key parameter to zero disables gain scheduling. 1 Use value written to Gain scheduling key parameter value (0x128) as the key.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 3 If set, don’t use index input at all. Useful when the index input is being used by a different encoder interface. EnDat Encoder (Type 11) Bits Description 0-5 Number of bits of single turn data available from encoder. 8-12 Number of bits of multi-turn data available from encoder. 16 Set if analog inputs are supplied by encoder. 17 If set, use multi-mode port.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 21 Set if encoder status bits are sent before position data. Clear if status bits are sent after position data. 22 Set if encoder error bit is transmitted before warning bit. Clear for warning bit sent first. 24-26 Number of alignment bits (reserved bits sent before position info). 28 Use multi-mode port if set. If clear use primary encoder interface. 30 Set for 2.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description 0 CRC error on data received from encoder. 1 Failed to detect encoder connected to drive. 2 Error bit on encoder stream is active. 3 Encoder failed to respond to request for position. SSI (Type 12) Bits Description 0-6 Fault flags returned from encoder. 15 Encoder data invalid bit set. BiSS (Type 13) Bits Description 0 CRC error on data received from encoder.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0 Battery warning reported by encoder. 1 Battery error reported by encoder. 3 Over speed reported by encoder. 4 Memory error reported by encoder. 5 STERR reported by encoder. 6 PSERR reported by encoder. 7 Busy error reported by encoder. 8 Memory busy reported by encoder. 9 Over temperature. 15 CRC error on data received from encoder.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description the output value in mV units when the D/A is in manual mode. In other modes, the current value being output on the D/A can be read here. 0x136 0x137 0x536 0x2208 R* INT16 Secondary analog reference value. Units: millivolts 0x137 0x138 0x537 0x2314 RF INT16 Secondary analog reference offset. Offset for secondary analog reference input.
Parameter Dictionary ASCII DvcNet Parameters MACRO CAN/ECAT IDX:SUB Bank Type Description microseconds. 0x150 0x151 0x550 0x210A RF 14 words Second chained biquad filter on output of velocity loop, see Filter Coefficients (p. 73). 0x151 0x152 0x551 0x210B RF 14 words Third chained biquad filter on output of velocity loop. 14 word parameter, see Filter Coefficients (p. 73). 0x152 0x153 0x552 0x210C RF 14 words First chained biquad filter on input of current loop.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x15A 0x15B 0x55A 0x2198 RF U32 I/O options. This parameter is used to configure optional features of the general purpose I/O. Bits Description 0-3 For AEM/APM, these bits determine whether several I/O pins are used as a serial interface for expanded I/O features, and if so how they are configured. 0 – normal I/O 1 – AEM/APM development board LEDs and address switches.
Parameter Dictionary ASCII 0x180 DvcNet 0x181 Parameters MACRO 0x580 CAN/ECAT IDX:SUB Type Description 0x2195:20 RF U16 Debounce time for general purpose input 19. 0x2195:21 RF U16 Debounce time for general purpose input 20. 0x2195:22 RF U16 Debounce time for general purpose input 21. 0x2195:23 RF U16 Debounce time for general purpose input 22. 0x2195:24 RF U16 U32 Debounce time for general purpose input 23. 0x2326 Bank RF UV configuration.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x184 0x185 0x584 0x2254 RF 8 to 40 Input shaping filter. This filter is used to modify the trajectory before its input to the Words position loop. This can be used to compensate for low frequency resonances in the load. The parameter is an array of 32-bit values. The first four values are used to store information about the input shaping filter (filter type, frequency, etc.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x18C 0x18D 0x58C 0x21A1 RF U32 I/O extension configuration for modules. This parameter is used to configure the I/O extension feature on plus modules which support it. For a detailed description of this I/O extension feature, see the Extending Plus Module I/O application note.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x192 0x193 0x592 0x2226 RF U32 0x193 0x194 0x593 0x2227 RF U32 Motor encoder calibration settings. The meaning of this parameter is dependent on the encoder type. Load encoder calibration settings. Same as 0x192, but applied to the load encoder.
Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x1A8 0x1A9 0x5A8 0x2228 RF INT16 0x1A9 0x1AA 0x5A9 0x2229 RF INT16 Motor encoder down-shift. This parameter is useful when using very high resolution encoders that would otherwise have limited speed and travel distance due to the range of position and velocity parameters. Setting the down-shift causes the position read from the encoder to be right-shifted before being used.
Parameter Dictionary CHAPTER 3: FILTER COEFFICIENTS Copley Controls Page 73
Parameter Dictionary There are several drive parameters which are used to define filters. These filters are implemented as generic biquadratic filter structures. Filters of this type implement the following formula to transform the input parameter x(n) at time n to an output parameter y(n): y(n) = b0·x(n) + b1·x(n-1) + b2·x(n-2) + a1·y(n-1) + a2·y(n-2) The values a1, a2, b0, b1, b2 are constants known as filter coefficients. They define the type of filter being implemented.
Parameter Dictionary and the remaining 10 words give the filter coefficients as 32-bit IEEE floating point values. The filter coefficient words are optional and are only necessary if the firmware is not calculating the coefficients internally. Word Description 1 Bits Usage 0-3 Filter family. 4 If set, filter will not be designed. Always set by firmware after successfully designing the filter. This prevents the filter from being redesigned when copied from flash at startup. 5-7 Reserved.
Parameter Dictionary Word Description pass filters the firmware can only calculate a two pole filter. For these filter types, bit 8 must be set. 2 This word gives the cut off frequency (in Hz) for low pass and high pass filters. For notch and band pass filters this gives the first filter frequency. 3 This word gives the second filter frequency (in Hz) for notch and band pass filters. 4 Bits Usage 0-7 Rp given in 0.1 dB units. 8-15 Rs given in dB units. Rp is the pass band ripple.
Copley Controls Parameter Dictionary P/N 16-01091 Revision 01 September 2014 2007 - 2014 Copley Controls 20 Dan Road Canton, MA 02021 USA All rights reserved
