Contents
Overview ....................................................................................................................................................4
Hardware Specifications.............................................................................................................................5
VME Memory Map ....................................................................................................................................6
Motion Control Parameters ........................................................................................................................7
Read Only Parameters..................................................................................................................7
Command Position.........................................................................................................7
Target Position...............................................................................................................7
Actual Position...............................................................................................................7
Transducer Counts .........................................................................................................7
Status Word ...................................................................................................................8
Bit Descriptions .............................................................................................................8
Industrial Bus Status Word Bit Map..............................................................................11
Drive ..............................................................................................................................12
Target Speed ..................................................................................................................12
Null Drive ......................................................................................................................12
Reserved Words.............................................................................................................12
Axis Setup Parameters .................................................................................................................12
Clock (Default: N/A,256,2,N/A) ...................................................................................12
VME Status_ID (Default: 0)..........................................................................................12
New Null (Default: 2048) Range: 1844 to 2252...........................................................12
Estop Mask (Default: FFFFH Emergency stop disabled) .............................................13
Halt Mask (Default: 0000H Halt enabled)....................................................................13
Interrupt Mask (Default: FFFFH Interrupts disabled) .................................................13
Feed Forward Advance (Default: 0) ..............................................................................14
Null Update (Default: 500) Range: 10 - 65535, 0 = disabled ........................................14
Minimum Update Time (Default: 1000) .......................................................................14
Dither (Default: 0) .........................................................................................................15
Hysteresis (Default: 0) ...................................................................................................15
Static Gain (Default: 50)................................................................................................15
Extend Gain (Default: 50)..............................................................................................15
Retract Gain (Default: 50) .............................................................................................15
Integral Gain (Default: 0) ..............................................................................................15
Differential Gain (Default: 0) ........................................................................................16
Extend Feed Forward (Default: 100) .............................................................................16
Retract Feed Forward (Default: 100).............................................................................16
Scale (Default: 32768) Range 0 to 65535......................................................................16
Scale Calculation Examples...........................................................................................18
Position Offset (Default: 0)............................................................................................18
Direction (Default: 0) Possible options: 0 and -1 ..........................................................19
Maximum Position Error (Default: 250)........................................................................19
At Command Position (Default: 50) ..............................................................................19
Near Command Position (Default: 0) ............................................................................19
Extend Limit (Defaults to actual position on reset) .......................................................19
Retract Limit (Defaults to actual position on reset) .......................................................20
Dynamic Control Parameters .......................................................................................................20
Mode (Default: 0000H) .................................................................................................20
Acceleration (Default: 1000) .........................................................................................21
Deceleration (Default: 1000) .........................................................................................21
Requested Speed (Default: 10000) ................................................................................21
Requested Position.........................................................................................................22
Command.......................................................................................................................22
How It Works .............................................................................................................................................24
