Copley Controls Serial Encoder Guía de usuario descargar pdf (Pagina 45)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0xC3

0xC4

0x4C3

0x6099:1

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

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

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

0xC6

0xC7

0x4C6

0x607C

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

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

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.

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.

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.

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