Copley Controls Serial Encoder User's Guide

Parameter Dictionary Part Number 16-01091 Revision 01 September 2014

Parameter Dictionary Introduction Cross references for each parameter include, where applicable, the equivalent DeviceNet variable ID, MACRO I-variab

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 0x0

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x15 0x16 0x415 0x221D R* INT16 Commanded Motor Current. T

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x20 0x21 0x420 0x2202 R* INT16 Dive temperature A/D Readin

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 40 The microstepper is controlled by the CANopen or EtherCA

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x32 0x33 0x432 0x2240 R* INT32 Actual Motor Position. Also

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x3D 0x3E 0x43D 0x2122 R* INT32 Trajectory Destination Posi

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x4C 0x4D 0x44C 0x2383:14 F INT32 Motor Continuous Torque.

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x53 0x54 0x453 0x2383:17 F U16 Motor Brake Activation Time

Parameter Dictionary Copley Controls 2

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0 No adjustment, 1 count on the encoder is 1 output count.

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 14 If set, then don't use this encoder for position f

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 7 Analog encoder updated at current loop rate. 8 Reserved

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x68 0x69 0x468 0x2402 R* INT32 Captured Index Position. Pr

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0 If set, an index position has been capt

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description The first word is a bit-mapped configuration value. The rem

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 11 For EtherCAT drives, pulse on the SYNC0 signal. 16 Trac

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 6* Negative side limit switch. Active high. 7* Negative

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 40* Update trajectory on rising edge. 41* Update trajector

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x87 0x88 0x487 None F* U16 Product Family. Identifies the

Parameter Dictionary TABLE OF CONTENTS About This Manual ...

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0 None (disabled). 1 Square wave. 2 Sine wave. 2-7 Reserve

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Velocity 0.1 counts/s. Position Counts. 0x9B 0x9C 0x49B 0

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 14 Motor brake activated. 15 PWM outputs disabled. 16 Posi

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xA2 0xA3 0x4A2 0x2261 R* INT16 Hall Input State. The lowe

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description This register has one bit for each pull-up resistor availab

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xA7 0xA8 0x4A7 0x2182 RF U32 Fault Mask. This variable is

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description occurs. If clear: programs the drive to abort the current

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Value Description 0 Step & Direction mode. 1 Separate

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description active/inactive state of the drive’s general-purpose digita

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x0240 STM: Stepnet Module. 0x0242 STP: Stepnet Panel. 0x0

Parameter Dictionary About This Manual ABOUT THIS MANUAL Overview and Scope This manual provides cross-referenced definitions of the parameters used

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x10E8 BP2-R: 2 axis Accelnet Plus Panel CAN resolver vers

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0 Standard mode. Encoder-based sinusoidal commutation for

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description referenced (i.e. homing has been successfully completed). S

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0-6 Give the node ID offset value that will be added to th

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description home. Bit 6 is not used in this mode. 1 Move in the directi

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xC3 0xC4 0x4C3 0x6099:1 RF INT32 Homing Velocity (fast mov

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 3 PVT profile mode. Use of this mode through the serial in

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xCC 0xCD 0x4CC 0x6083 RF U32 Trajectory Maximum Accelerati

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xE2 0xE3 0x4E2 0x2157 R* INT16 Regen Resistor Status. Bit-

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0xEE 0xEF 0x4EE 0x21D6 RF INT16 Stepper Configuration &

Parameter Dictionary About This Manual Copyrights No part of this document may be reproduced in any form or by any means, electronic or mechanical, i

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Register (0xA0) bits are clear, then the limit bit is clear

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 1 Set if the drive is being disabled by the MACRO master.

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description If bit 31 is zero, then a default bit mapping is used and t

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 5 If set, exit table in forward direction. 6 If set, use t

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description bits 4 & 7 of the Position Capture Status Register (0x6

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description position capture is enabled and the time is recent enough f

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0-7 Segment time in milliseconds. 8-11 Re

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0-1 Identify units for current readings:

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 2 If set, return the primary encoder index state (high/low

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0 Capture on edge of encoder index. 1 Capture using a gene

Parameter Dictionary About This Manual Latching an output does not eliminate the risk of unexpected motion with non-latched faults. Associating a fau

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x127 0x128 0x527 0x2370 RF U32 Gain scheduling configurati

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 3 If set, don’t use index input at all. Useful when the in

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 21 Set if encoder status bits are sent before position dat

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0 CRC error on data received from encoder. 1 Failed to det

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description Bits Description 0 Battery warning reported by encoder. 1

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description the output value in mV units when the D/A is in manual mode

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description microseconds. 0x150 0x151 0x550 0x210A RF 14 words Second c

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x15A 0x15B 0x55A 0x2198 RF U32 I/O options. This paramete

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x2195:20 RF U16 Debounce time for general purpose input 19

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x184 0x185 0x584 0x2254 RF 8 to 40 Words Input shaping fil

Parameter Dictionary About This Manual Copley Controls Page 7

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x18C 0x18D 0x58C 0x21A1 RF U32 I/O extension configuration

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x192 0x193 0x592 0x2226 RF U32 Motor encoder calibration s

Parameter Dictionary Parameters ASCII DvcNet MACRO CAN/ECAT IDX:SUB Bank Type Description 0x1A8 0x1A9 0x5A8 0x2228 RF INT16 Motor encoder down-shift.

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 filt

Parameter Dictionary and the remaining 10 words give the filter coefficients as 32-bit IEEE floating point values. The filter coefficient words are

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 T

Copley Controls Parameter Dictionary P/N 16-01091 Revision 01 September 2014  2007 - 2014 Copley Controls 20 Dan Road Canton, MA 02021 U

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