User guide

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). This velocity value is used for homing segments that
require low speed, such as cases where the edge of a homing sensor is being
sought. Units: 0.1 counts/s.
0xC5
0xC6
0x4C5
0x609A
RF
U32
Homing Acceleration/Deceleration. This value defines the acceleration used for all
homing moves. The same value is used at the beginning and ending of moves (i.e.
there is no separate deceleration value). Units: 10 counts/s
2
.
0xC6
0xC7
0x4C6
0x607C
RF
INT32
Home Offset. The home offset is the difference between the zero position for the
application and the machine home position (found during homing). During homing
the home position is found. Once the homing is completed the zero position is offset
from the home position by adding the offset to the home position. All subsequent
absolute moves shall be taken relative to this new zero position. Units: counts.
0xC7
0xC8
0x4C7
0x2350
RF
INT16
Homing Current Limit (home to hard stop mode only). Home current in hard stop
mode, in which the drive drives the motor to the mechanical end of travel (hard stop).
End of travel is recognized when the drive outputs the Hard Stop Mode Home
Current for the Homing Current Delay Time (0xBF).Units: 0.01 A.
0xC8
0xC9
0x4C8
None
RF
INT16
Trajectory Profile Mode. To set profile in CANopen see CAN object 0x6086 in the
CANopen Programmers Manual. Bit-mapped as follows:
Bits
Description
0-2
Give the trajectory profile mode. The possible trajectory modes are described below.
Value
Description
0 Trapezoidal profile mode. Uses position/distance, velocity, acceleration and
deceleration. Any of those parameters may be changed during the move. Jerk is not
used in this mode.
1
S-curve profile mode. Uses position/distance, velocity, acceleration, and jerk. None
of these parameters may be changed while a move is in progress (although the
move may be aborted). The acceleration parameter will be used for deceleration.
2
Velocity mode. Uses velocity, acceleration, and deceleration. Jerk is not used in this
mode, and position is only used to define the direction of move (zero or positive to
move with a positive velocity, negative to move with a negative velocity). Any
parameter may be changed during the move. Set velocity to zero to stop.
Copley Controls Page 45