CDHD Application Setup
User Manual 131
6 Applicat ion Set up
6 .1 Pa r a m ete rs
6 .1 .1 Con figura t ion Pa ra m et er s
Va rCom is a proprietary set of com m ands and variables, or param eters, used to
configure drive functionality when the host and drive are com municating over a
serial connection.
VarCom param et ers can be accessed and manipulated through ServoStudio
software, in either graphical interface screens, or a comm and-line term inal
screen.
While setting param eters, pay close attention to any warning or error
m essages that appear in ServoStudio, and any flashing codes on the drive
itself.
Disable the drive before manipulating motor and feedback param eters.
Many param eters can be m odified while the drive is enabled.
Exercise caution, however, as mot or behavior m ay change.
I f a parameter cannot be m odified while the drive is enabled, a prom pt t o
disable t he drive will be displayed.
6 .1 .2 M an agin g Par am et e rs - Dr ive Mem or y
The CDHD drive has two types of mem ory for storing the drive’s param eters:
Flash : Non-volatile mem ory. It holds the drive’s default param eter values
(cont ained within the drive’s firm ware), as well as the saved set of
parameters.
RAM : Volatile memory. The drive’s working m em ory. Paramet er values are
maintained in RAM while you configure and test the drive and adjust
param eters. If power to the drive is disconnect ed, any unsaved changes in
the parameters will be lost.
During power up, the CDHD loads param eter values from the non-volatile
mem ory to RAM, and a checksum of these parameter values is calculated. If the
checksum is invalid, default parameter values (which are hard-coded in the
drive’s firm ware) are loaded int o RAM and a Param eter Mem ory Checksum
Failure fault is set.
The following diagram illustrates the relationships among the different types of
m em ory and comm ands used for managing the drive parameters.
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