Copley Controls Serial Encoder Guida Utente Scaricare il pdf (Pagina 66)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

microseconds.

0x150

0x151

0x550

0x210A

words

Second chained biquad filter on output of velocity loop, see Filter Coefficients (p. 73).

0x151

0x152

0x551

0x210B

words

Third chained biquad filter on output of velocity loop. 14 word parameter, see Filter

Coefficients (p. 73).

0x152

0x153

0x552

0x210C

words

First chained biquad filter on input of current loop. 14 word parameter, see Filter

Coefficients (p. 73).

0x153

0x154

0x553

0x210D

words

Second chained biquad filter on input of current loop. 14 word parameter, see Filter

Coefficients (p. 73).

0x154

0x155

0x554

0x2301

INT32

Servo loop configuration. This parameter allows various parts of the drive servo

loops to be enabled/disabled. Bit-mapped as follows:

Bits

Description

If set, this disables the velocity loop gains. The velocity loop command feed forward gain

(parameter 0x157) is still active as are the velocity loop output filters.

If set, this enables the position loop I and D gains (parameters 0x155 and 0x156). If clear,

these parameters are treated as zeros.

2-31

Reserved for future use.

0x155

0x156

0x555

0x2382:5

INT16

Position loop integral gain (KI).

0x156

0x157

0x556

0x2382:6

INT16

Derivative gain for position loop (KD).

0x157

0x158

0x557

0x2381:6

INT16

Velocity loop command feed forward. The input command (after limiting) to the

velocity loop is scaled by this value and added in to the output of the velocity loop.

0x158

0x159

0x558

0x2382:7

INT16

Integral drain for position loop.

0x159

0x15A

0x559

0x6007

INT16

Abort option code for CANopen / EtherCAT drives.

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