User guide

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.
0x3F
0x40
0x43F
0x2105
RF
U16
Velocity Window Time. The velocity window bit in the event status will be cleared
when the absolute velocity error is less than the velocity window for this amount of
time. Units: ms.
0x40
0x41
0x440
0x2383:1
F
U16
Motor Type. The type of motor connected to the drive. Bit-mapped as follows:
Bits
Description
0 Set for linear motor, clear for rotary.
1-3
Reserved.
4-5
Motor architecture:
0
Not specified.
1
Brushed servo motor.
2
Microstepper.
3 Brushless servo motor.
6-15
Reserved.
0x41
0x42
0x441
0x6404
F
String
Motor Manufacturer.
0x42
0x43
0x442
0x6403
F
String
Motor Model.
0x43
0x44
0x443
0x2383:27
F
INT16
Motor Units. This is only used by CME for display. (0=metric, 1=English).
0x44
0x45
0x444
0x2383:9
F
INT32
Motor Inertia (Mass). Units: Rotary = 0.000001 Kg/cm
2
; Linear = 0.0001 Kg.
0x45
0x46
0x445
0x2383:2
F
INT16
Motor Poll Pairs (used only for rotary motors). Number of motor pole pairs (electrical
phases) per rotation. For stepper motors, Poll Pairs = (360 deg / Motor deg/step) / 4.
0x46
0x47
0x446
0x2383:16
F
U16
Motor Brake Type. 0=present, 1=none.
0x47
0x48
0x447
0x2383:15
F
U16
Motor Temperature Sensor Type. 0=none, 1=present.
0x48
0x49
0x448
0x2383:12
F
INT32
Motor Torque Constant. Units: 0.00001 Nm/A.
0x49
0x4A
0x449
0x2383:7
F
INT16
Motor Resistance. Units: 10 mΩ.
0x4A
0x4B
0x44A
0x2383:8
F
INT16
Motor Inductance. Units: 10 µH.
0x4B
0x4C
0x44B
0x2383:13
F
INT32
Motor Peak Torque. Units: 0.00001 Nm units.
Copley Controls Page 17