User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
3 PVT profile mode. Use of this mode through the serial interface is not presently
supported.
8
If set, this is a relative move. If clear, this is an absolute move.
Valid settings for this parameter:
Value
Description
0
Absolute move, trapezoidal profile.
1 Absolute move, S-curve profile.
256
Relative move, trapezoidal profile.
257
Relative move, S-curve profile.
2
Velocity profile.
0xC9
0xCA
0x4C9
0x2252
R*
INT16
Trajectory Status Register. This parameter gives status information about the
trajectory generator. Bit-mapped as follows:
Bits
Description
0-8
Reserved for future use.
9 Cam table underflow.
10 Reserved for future use.
11
Homing error. If set, an error occurred in the last home attempt. Cleared by a home
command.
12 Referenced. Set when a homing command has been successfully executed. Cleared by a
home command.
13
Homing. If set, the drive is running a home command.
14
Set when a move is aborted. Cleared at the start of the next move.
15 In-Motion Bit. If set, the trajectory generator is presently generating a profile.
0xCA
0xCB
0x4CA
0x607A
RF
INT32
Trajectory Generator Position Command. Units: Counts.
Meaning depends on move type as described below:
Move Type
Meaning
Relative
Move distance.
Absolute
Target position.
Velocity
Direction: 1 for positive, -1 for negative.
0xCB
0xCC
0x4CB
0x6081
RF
INT32
Trajectory Maximum Velocity. The trajectory generator will attempt to reach this
velocity during a move. Units: 0.1 counts/s.
Copley Controls Page 46