CDHD
VarCom Reference Manual 5
Contents
1 Introduction __________________ 9
About This Manual .............................. 9
Documentation Set for the CDHD ......... 9
Manual Format ................................... 9
2 Variable and Command Functions
and Types ___________________ 11
Added in this Firmware Release ........... 11
Removed in this Firmware Release....... 11
Functions.......................................... 12
Activation and Faults ...................... 12
Bus Power .................................... 12
Communication ............................. 12
Commutation ................................ 12
Controller - Current ....................... 13
Controller - Position ....................... 13
Controller - Velocity ....................... 14
Direction ...................................... 14
Emergency Stop ............................ 14
Feedback ...................................... 14
Foldback ....................................... 15
Gearing ........................................ 15
HD Controller ................................ 15
Harmonic Correction ...................... 15
Homing ........................................ 15
Information................................... 16
I/Os - Analog ................................ 16
I/Os - Digital ................................. 16
Limits ........................................... 16
Linear System ............................... 16
Memory – Non-volatile ................... 17
Motion .......................................... 17
Motor ........................................... 17
Recording ..................................... 17
Sensorless .................................... 18
Temperature ................................. 18
Unit - Configurable ........................ 18
Unit - Selectable ............................ 18
Types ............................................... 19
Status .......................................... 19
Information................................... 19
Modes .......................................... 19
Commands ................................... 19
Signals ......................................... 20
Motor ........................................... 20
Parameters ................................... 21
Gain ............................................. 22
Wizards ........................................ 22
3 Variables and Commands _______ 23
ABSOFFSET ...................................... 23
ACC ................................................. 24
ACTIVE ............................................. 25
ADDR ............................................... 26
ANIN1 .............................................. 27
ANIN1DB .......................................... 28
ANIN1ISCALE .................................... 29
ANIN1LPFHZ ..................................... 30
ANIN1OFFSET ................................... 31
ANIN1VSCALE ................................... 32
ANIN1ZERO ...................................... 33
ANIN2 .............................................. 34
ANIN2DB .......................................... 35
ANIN2ISCALE .................................... 36
ANIN2LPFHZ ..................................... 37
ANIN2MODE...................................... 38
ANIN2OFFSET ................................... 39
ANIN2ZERO ...................................... 40
ANOUT ............................................. 41
ANOUTCMD ....................................... 42
ANOUTISCALE ................................... 43
ANOUTLIM ........................................ 44
ANOUTMODE ..................................... 45
ANOUTVSCALE .................................. 46
AUTOHOME ....................................... 47
BAUDRATE ........................................ 48
BW .................................................. 49
CANBITRATE ..................................... 50
CHECKSUM ....................................... 51
CLEARFAULTS ................................... 52
CLTUNE ............................................ 53
CLTUNEST ........................................ 54
CLVD ............................................... 55
CLVQ ............................................... 56
COMMODE ........................................ 57
CONFIG ............................................ 58
DEC ................................................. 59
DECDIST .......................................... 60
DECDIST2 ........................................ 61
DECSTOP .......................................... 62
DECSTOPTIME ................................... 63
DICONT ............................................ 64
DIPEAK ............................................ 65
DIR .................................................. 66
DISMODE ......................................... 67
DISPLAYTEST .................................... 68
DISSPEED ........................................ 69
DISTIME ........................................... 70
DRIVENAME ...................................... 71
DRIVESCRIPT .................................... 72
DRIVESCRIPTST ................................ 73
DRIVETEMP ....................................... 74
DUMP ............................................... 75
ECHO ............................................... 76
ELECTANGLE ..................................... 77
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