[Drive Configuration Parameters] Config_Version=17 17 0 0 Rated_Peak_Current=150 Rated_Continuous_Current=75 Bus_Over_Voltage=3939 Bus_Under_Voltage=545 Max_Switching_Freq=22 Rated_Shunt_Power=0 Internal_Shunt_Resistance=0 Internal_Shunt_Inductance=0 Max_Shunt_Freq=0 Internal_Shunt_Max_Cont_Current=0 Shunt_Configuration=0 Controlboard=XCR362EEB Powerboard=PNA15A40C [Drive Parameters Section] Drive_Control=0 External_Analog_Temperature_Disable_Level=100 External_Analog_Temperature_Enable_Level=95 Start_Up_Sequence_Control=0 Start_Up_PhaseDetect_Config=0 Delay_After_Applying_Brakes=0 Delay_Before_Disengaging_Brakes=0 Quick_Stop_Deacceleration_Limit=8333333.32557231 [Software Parameters Section] Base_Distance_Mass=257 Base_Temperature_Time=514 Load_Coordinate_System=0 Motor/Load_Distance_Unit=257 Motor/Load_Velocity_Distance_Unit=514 Motor/Load_Velocity_Time_Unit=257 Motor/Load_Acceleration_Velocity_Distance_Unit=514 Motor/Load_Acceleration_Velocity_Time_Unit=257 Motor/Load_Acceleration_Time_Unit=514 Motor/Load_Torque_Force=257 Motor/Load_Torque_Distance_Unit=257 Load_Distance_Scale_Factor=1 Load_Velocity_Scale_Factor=1 Load_Acceleration_Scale_Factor=1 Load_Torque_Scale_Factor=1 Custom_Temperature/Time_Conversion_Unit=257 CustomDistance/Mass_Conversion_Unit=257 Custom_Time_Unit=. Custom_Time_Scale_Factor=1 Custom_Mass_Unit=. Custom_Mass_Scale_Factor=1 Custom_Temperature_unit=. Custom_Temperature_Scale_Factor=1 Custom_Distance_Unit=. Custom_Distance_Scale_Factor=1 Load_Units_distance_and_velocity_labels=Count RPM Load_Units_acceleration_and_torque_labels=RPM/s N-m Custom_Distance_Pre_Scale_Factor=1 Custom_Time_Pre_Scale_Factor=1 Custom_Mass_Pre_Scale_Factor=1 Custom_Torque_Pre_Scale_Factor=1 Custom_Temperature_Pre_Scale_Factor=1 Load_Distance_Pre_Scale_Factor=1 Load_Velocity_Pre_Scale_Factor=1 Load_Acceleration_Pre_Scale_Factor=1 Load_Torque_Pre_Scale_Factor=1 Custom_Torque_Unit=N·m Custom_Torque_Scale_Factor=1 Custom_Torque_Conversion_Unit=0 Custom_Torque_Base_Conversion_Unit=257 nominal_bus_voltage=170 configurator_value=0 Motor_Commutation_Value=19 Analog_Output_Signal=1 Feedback_Availability=3 Enable_External_Brake=0 Caputre_Signals=1 Caputre_Signals_2=2 Caputre_One_Set_Reset_Source=10 Caputre_Two_Set_Reset_Source=65535 Caputre_Three_Set_Reset_Source=65092 Custom_Halls_Deviation=5 AuxEncoderPresent=0 AuxEncoderType=0 AuxEncoderLineCount=2000 AuxEncoderLabel=Lines / Rev AuxEncoderPolarity=0 AuxIndexPresent=0 AuxIndexCount=1 Drive_Name= Firmware_Name=DPRAHIE-4.6.4.0.aff [Motor Parameters Section] Motor_Manufacturer=MCG Motor_Model=IB34003-Q5-7 Motor_Back_EMF_Constant=16.7000007629395 Motor_Torque_Constant=0.14300000667572 Motor_resistance=0.405000001192093 Motor_Inductance=1.69000005722046 Motor_Thermal_Constant=1 Motor_Maximum_Current=26.5 Motor_Maximum_Speed=1033333.3125 Motor_Maximum_Current_At_Maximum_Velocity=1 Motor_Continuous_Rated_Current=8.89999961853027 Motor_Feedback_Model=Encoder Motor_Number_of_Poles=8 Motor_Hall_Phasing=120 Motor_Phase_Pair=A and B Motor_Back_EMF_Constant_Units=V/Krpm Motor_Power=750 TModel_R2=9.99999997475243e-007 TModel_X1=9.99999997475243e-007 TModel_X2=9.99999997475243e-007 TModel_Xm=9.99999997475243e-007 Motor_Power_Factor=0 Motor_Efficiency=0.00999999977648258 ACInduction_Motor_Model=1 Motor_Power_Units=0 Motor_Winding=0 Rated_Bus_Voltage=1 Motor_Torque_Constant_Units=N·m/A Motor_Pole_Pitch_Units= Motor_Maximum_Speed_Units=rev/min Motor_Feedback_Device=3 Motor_Commutation_Type=2 H_CW_S_Count=21495 H_CCW_S_Count=54420 E_C_S_Count=63045 E_CCW_S_Count=63175 H_S_P_A_Error=3640 H_S_P_A_Error_Adj=182 E_S_P_A_Error=3640 E_S_P_A_Error_Adj=182 Hall_One_Plus_Selection_One=10 Hall_One_Minus_Selection_One=0 Hall_One_Plus_Selection_Two=10 Hall_One_Minus_Selection_Two=0 Hall_One_Plus_Selection_Three=10 Hall_One_Minus_Selection_Three=0 Hall_One_Plus_Selection_Four=10 Hall_One_Minus_Selection_Four=0 Hall_Two_Plus_Selection_One=5 Hall_Two_Minus_Selection_One=0 Hall_Two_Plus_Selection_Two=5 Hall_Two_Minus_Selection_Two=0 Hall_Two_Plus_Selection_Three=5 Hall_Two_Minus_Selection_Three=0 Hall_Two_Plus_Selection_Four=5 Hall_Two_Minus_Selection_Four=0 Hall_Three_Plus_Selection_One=8 Hall_Three_Minus_Selection_One=0 Hall_Three_Plus_Selection_Two=8 Hall_Three_Minus_Selection_Two=7 Hall_Three_Plus_Selection_Three=8 Hall_Three_Minus_Selection_Three=0 Hall_Three_Plus_Selection_four=8 Hall_Three_Minus_Selection_four=0 Encoder_One_Plus_Selection_One=10 Encoder_One_Minus_Selection_One=7 Encoder_One_Plus_Selection_Two=10 Encoder_One_Minus_Selection_Two=7 Encoder_One_Plus_Selection_Three=10 Encoder_One_Minus_Selection_Three=7 Encoder_One_Plus_Selection_Four=10 Encoder_One_Minus_Selection_Four=7 Encoder_Two_Plus_Selection_One=3 Encoder_Two_Minus_Selection_One=4 Encoder_Two_Plus_Selection_Two=3 Encoder_Two_Minus_Selection_Two=4 Encoder_Two_Plus_Selection_Three=3 Encoder_Two_Minus_Selection_Three=4 Encoder_Two_Plus_Selection_Four=3 Encoder_Two_Minus_Selection_Four=4 Encoder_Index_Plus_Selection_One=5 Encoder_Index_Minus_Selection_One=8 Encoder_Index_Plus_Selection_Two=5 Encoder_Index_Minus_Selection_Two=8 Encoder_Index_Plus_Selection_Three=5 encoder_Index_Minus_Selection_Three=8 Encoder_Index_Plus_Selection_Four=5 Encoder_Index_Minus_Selection_Four=8 Motor_A_Selection_One=2 Motor_A_Selection_Two=2 Motor_A_Selection_Three=2 Motor_A_Selection_Four=2 Motor_B_Selection_One=7 Motor_B_Selection_Two=7 Motor_B_Selection_Three=7 Motor_B_Selection_Four=7 Motor_C_Selection_One=1 Motor_C_Selection_Two=1 Motor_C_Selection_Three=1 Motor_C_Selection_Four=1 Motor_number_of_Indices=1 Motor_Maximum_temperature=100 Aux_Encoder_One_Plus_Selection_One=0 Aux_Encoder_One_Minus_Selection_One=0 Aux_Encoder_One_Plus_Selection_Two=0 Aux_Encoder_One_Minus_Selection_Two=0 Aux_Encoder_One_Plus_Selection_Three=0 Aux_Encoder_One_Minus_Selection_Three=0 Aux_Encoder_One_Plus_Selection_Four=0 Aux_Encoder_One_Minus_Selection_Four=0 Aux_Encoder_Two_Plus_Selection_One=0 Aux_Encoder_Two_Minus_Selection_One=0 Aux_Encoder_Two_Plus_Selection_Two=0 Aux_Encoder_Two_Minus_Selection_Two=0 Aux_Encoder_Two_Plus_Selection_Three=0 Aux_Encoder_Two_Minus_Selection_Three=0 Aux_Encoder_Two_Plus_Selection_Four=0 Aux_Encoder_Two_Minus_Selection_Four=0 Aux_Encoder_Index_Plus_Selection_One=0 Aux_Encoder_Index_Minus_Selection_One=0 Aux_Encoder_Index_Plus_Selection_Two=0 Aux_Encoder_Index_Minus_Selection_Two=0 Aux_Encoder_Index_Plus_Selection_Three=0 Aux_encoder_Index_Minus_Selection_Three=0 Aux_Encoder_Index_Plus_Selection_Four=0 Aux_Encoder_Index_Minus_Selection_Four=0 Encoder_Wiring_Polarity=1 Maximum_Phase_Detection_Current=0.24993896484375 Maximum_Phase_Detection_Time_Limit=1000 Maximum_Phase_Detection_Brake_Limit=1000 Maximum_Phase_Detection_Motion=3276 Resolver_Resolution=0 Serial_Encoder_Type=0 Position_Interpolation=1 Encoder_Steps_Per_Encoder_Sine_Period=1 Secondary_Encoder_Position_Interpolation=0 Torque_Constant_Over_Inertia=2.5 Encoder_Emulation_Divide=1 [Drive Connection Section] Rs232_Drive_Address=63 Rs232_Baud_Rate=0 Rs485_Drive_Address=63 Rs485_Baud_Rate=0 [Auxiliary Section] Auxiliary_Input_One_Counts=1 Auxiliary_Output_One_Counts=0 Auxiliary_Input_Polarity=1 Auxiliary_Input_Preload_Enum=0 Auxiliary_Input_Preset_Command_Value=0 [Commanded Input Section] Commanded_Input_One=0 Commanded_Input_Two=0 Commanded_Input_Three=0 Commanded_Input_Four=0 Commanded_Input_Five=0 Commanded_Input_Six=0 Commanded_Input_Seven=0 Commanded_Input_Eight=0 [I/O Section] DO_Active_Level_Mask=0 StartUp_Disabled_Mask=32768 Internal_Error_Mask=32768 Short_Circuit_Mask=32769 Over_Current_Mask=1 Under_Voltage_Mask=32769 Over_Voltage_Mask=32769 Over_Temperature_Mask=32769 Parameter_Restore_Error_Mask=32769 Parameter_Save_Error_Mask=32769 Commutation_State_Error_Mask=32769 Encoder_Synchronization_Error_Mask=0 Motor_Over_Temperature_Mask=0 Phase_Detection_Fault_Mask=1 Feedback_Sensor_Error_Mask=0 Log_Entry_Missed_Mask=0 Commanded_Inhibit_Mask=1 External_Inhibit_Mask=1 Positive_Limit_Active_Mask=0 Negative_Limit_Active_Mask=32768 Current_Limiting__Foldback_Mask=32768 Current_Limit_Reached_Mask=0 Current_Loop_Saturated_Mask=0 User_Under_Voltage_Mask=0 User_Over_Voltage_Mask=0 Nonsinusoidal_Commutation_Mask=0 DO_Phase_Detection_Mask=0 Commanded_Dynamic_Brake_Mask=0 External_Dynamic_Brake_Mask=0 Shunt_Regulator_Active_Mask=0 Phase_Detection_Complete_Mask=32768 Command_Profiler_Active_Mask=32768 Motor_Over_Speed_Mask=1 At_Command_Mask=0 Zero_Speed_Indicator_Mask=0 Velocity_Following_Error_Limit_Exceeded_Mask=0 Positive_Target_Velocity_Limit_Exceeded_Mask=0 Negative_Target_Velocity_Limit_Exceeded_Mask=0 Upper_Measured_Position_Limit_Exceeded_Mask=0 Lower_Measured_Position_Limit_Exceeded_Mask=0 At_Home_Position_Mask=0 Position_Following_Error_Limit_Exceeded_Mask=1 Upper_Target_Position_Limit_Exceeded_Mask=0 Lower_Target_Position_Limit_Exceeded_Mask=0 DO_Load_Preset_Position_Mask=0 DO_Load_Preset_Auxiliary_Command_Mask=0 Homing_Active_Mask=0 Apply_Brake_Mask=0 Pvt_Buffer_Full=0 Pvt_Buffer_Empty=0 Pvt_Buffer_Threshold=0 Pvt_Buffer_Failure=0 Pvt_Buffer_Empty_Stop=0 Pvt_Sequence_Error=0 Comm_Channel_Error=0 Homing_Complete=0 Commanded_Quick_Stop=0 External_Quick_Stop=0 Bridge_Active=0 Dynamic_Break_Active=0 Quick_Stop_Active=0 Positive_Stop_Active=0 Negative_Stop_Active=0 Positive_Torque_Inhibit_Active=0 Negative_Torque_Inhibit_Active=0 Virual_Output_1=0 Virual_Output_2=0 Virual_Output_3=0 Virual_Output_4=0 Virual_Output_5=0 Virual_Output_6=0 Virual_Output_7=0 Virual_Output_8=0 Virual_Output_9=0 Virual_Output_10=0 Virual_Output_11=0 Virual_Output_12=0 Virual_Output_13=0 Virual_Output_14=0 Virual_Output_15=0 Virual_Output_16=0 Capture_One=0 Capture_Two=0 Capture_Three=0 Commanded_Positive_Limit=0 Commanded_Negative_Limit=0 DI_Active_Level_Mask=0 Inhibit_Bridge_Mask=32769 Positive_Limit_Mask=0 Negative_Limit_Mask=0 Motor_Over_Temperature_Inhibit_Mask=0 DI_Phase_Detection_Mask=0 Dynamic_Brake_Mask=0 DI_Load_Preset_Position_Mask=2 DI_Load_Preset_Auxiliary_Command_Mask=2 Start_Homing_Mask=0 Home_Switch_Mask=0 Quick_Stop_Mask=0 Capture One Arm=0 Capture Two Arm=0 Capture Three Arm=0 Event History Reset=1 Output_One_Source_Enum_Lower=1 Output_One_Source_Enum_Upper=2 Output_One_Offset=0 Output_One_Gain=2 Output_One_Right_Shift=0 Output_Two_Source_Enum_Lower=4 Output_Two_Source_Enum_Upper=79 Output_Two_Offset=0 Output_Two_Gain=8 Output_Two_Right_Shift=0 Input_One_Offset=0.05 Input_One_ScaleFactor=8738133 Input_Two_Offset=-0.079345703125 Input_two_ScaleFactor=6990506 Input_Three_Offset=0 Input_Three_ScaleFactor=262144 Input_four_Offset=0 Input_Four_ScaleFactor=262144 [Communication Two Parameters] [Control Loops Configuration Section] P_H_A=0 D_C_M=64 F_R_C_L=31 M_T_F=0 C_LMT_S=0 C_A_S=2 V_L_F_C=4 V_L_F_T=4 V_L_F_V=4 V_L_F_P=4 P_L_F_C=7 P_L_F_T=7 P_L_F_V=7 P_L_F_P=7 C_S_C=20 C_S_T=0 C_S_V=0 C_S_P=0 P_S_C=0 P_S_T=0 P_S_V=0 P_S_P=0 [Commutation Section] E_Res=10000 E_Index_Offset=0 [Voltage Section] Over-Voltage_Limit=360 Under-Voltage_Limit=85 Shunt_Regulator_Enable_Threshold=393 Shunt_Regulator_Configuration=0 External_Shunt_Resistance=0 External_Shunt_Power=0 External_Shunt_Inductance=0 [Current Section] Torque_Loop_Proportional_Gain=0.833984375 Torque_Loop_Integral_Gain=0.119140625 Torque_Target_Offset=0 Peak_Current_Limit=15 Peak_Current_Hold_Time=2000 Continuous_Current_Limit=7.5 Peak_to_Continuous_Current_Tansition_Time=10000 Flux_Ref_Proportional_Gain=0 Flux_Ref_Integral_Gain=0 Motor_Pole_Pairs=2 Rated_Line_Current=1.6790771484375 NoLoad_Magnetization_Current=0.95947265625 Rated_Line_Frequency=0 Rated_Rotor_Base_Speed=1725 F_W_Threshold_Speed=578 Motor_Type=2 Auxiliary_Commutation_Mode=0 Encoder_Direction=1 S_Mode=3 E_Counts/E_Cycle=2500 H_S_Angle1=21495 H_S_Angle2=54420 Index_S_Angle1=63045 Index_S_Angle2=63175 N_T_A_At_E_Z_P=0 Max_S_P_A_Error=3640 Max_S_P_A_Adj=182 E_Cycle_Adj_Count=4 E_Counts/Cycles_Adj=0 V_H_S_Mask=126 H_Angle1=0 H_Angle2=21984 H_Angle3=43716 H_Angle4=32546 H_Angle5=65319 H_Angle6=10975 H_Angle7=54729 H_Angle8=0 Phase_Detect_Control=0 [Velocity Section] Feedback_Direction=1 Feedback_Filter_Coefficient=0.395019531249797 Proportional_Gain=0.10333251953125 Integral_Gain=0.000211999984458089 Derivative_Gain=0 Acceleration_Feed_Forward_Gain=0 Integrator_Decay_Rate=2.5 Motor_Over_Speed_Limit=1033333.2824707 Zero_Speed_Limit=1666.56494140625 Velocity_At_Speed_Limit=3333.28247070313 Velocity_Loop_Following_Error_Limit=3333.28247070313 Positive_Velocity_Limit=1000000 Negative_Velocity_Limit=-1000000 [Position Section] Proportional_Gain=0.00999999977648258 Integral_Gain=1.0898386193503e-008 Derivative_Gain=0 Velocity_Feed_Forward_Gain=0 Acceleration_Feed_Forward_Gain=0 Feedback_Direction=1 Integrator_Decay_Rate=0 Preset_Position_Value=0 Home_Position_Value=0 Upper_Measured_Position_Limit=15000 Lower_Measured_Position_Limit=-15000 In_Home_Position_Window=100 In_Position_Window=10 Following_Error_Window=20000 Upper_Target_position_Limit=2147483647 Lower_Target_Position_Limit=-2147483647 Position_Limits_Control=0 Speed_During_Search_for_Switch=6666.56494140625 Speed_During_Search_for_Zero=6666.56494140625 Homing_Method=21 Acceleration=66666.6310280561 [PVT Generator Section] Minimum_Point_In_Buffer=0 Input_Mode=0 [Waveform Generator Section] [Command Profiler Section] Positive_Target_Positve_Change_Custom=32767.999999994 Positive_Target_Negative_Change_Custom=32767.999999994 Negative_Target_Negative_Change_Custom=32767.999999994 Negative_Target_Positive_Change_Custom=32767.999999994 Positive_Target_Positve_Change_Torque=32767.9999999937 Positive_Target_Negative_Change_Torque=32767.9999999937 Negative_Target_Negative_Change_Torque=32767.9999999937 Negative_Target_Positive_Change_Torque=32767.9999999937 Positive_Target_Positve_Change_Velocity=32767.9999999937 Positive_Target_Negative_Change_Velocity=32767.9999999937 Negative_Target_Negative_Change_Velocity=32767.9999999937 Negative_Target_Positive_Change_Velocity=32767.9999999937 Positive_Target_Positve_Change_Position=32767.9999999937 Positive_Target_Negative_Change_Position=32767.9999999937 Negative_Target_Negative_Change_Position=32767.9999999937 Negative_Target_Positive_Change_Position=32767.9999999937 S_Curve_Max_Velocity_Custom_Mode=32767.9999999998 S_Curve_Max_Acceleration_Custom_Mode=1 S_Curve_Max_Deceleration_Custom_Mode=1 S_Curve_Max_Velocity_Position_Mode=32767.9999999998 S_Curve_Max_Acceleration_Position_Mode=1 S_Curve_Max_Deceleration_Position_Mode=1 [Event Handling Section] Event_Action_Parameter_Restore_Error=1 Event_Action_Parameter_Save_Error=1 Event_Action_Commutation_State_Error=1 Event_Action_Commutation_Sync_Fault=0 Event_Action_Motor_Over_Temperature=0 Event_Action_Feedback_Sensor_Error=0 Event_Action_Log_Entry_Missed=0 Event_Action_Current_Limiting_Active=0 Event_Action_Continuous_Current_Limiting_Active=0 Event_Action_Current_Loop_Saturated=0 Event_Action_User_Under_Voltage=0 Event_Action_User_Over_Voltage=0 Event_Action_Shunt_regulator_Active=0 Event_Action_Command_Profiler_Active=0 Event_Action_Motor_Over_Speed=1 Event_Action_At_Command=0 Event_Action_Zero_Speed=0 Event_Action_Velocity_Following_Error_Limit_Exceeded=0 Event_Action_Positive_Target_Velocity_Limit_Exceeded=0 Event_Action_Negative_Target_Velocity_Limit_Exceeded=0 Event_Action_Upper_Measured_Position_Limit_Exceeded=2 Event_Action_Lower_Measured_Position_Limit_Exceeded=3 Event_Action_At_Home_Position=0 Event_Action_Position_Following_Error_Limit_Exceeded=1 Event_Action_Upper_Target_Position_Limit_Exceeded=0 Event_Action_Lower_Target_Position_Limit_Exceeded=0 Event_Action_PVT_Buffer_Full=0 Event_Action_PVT_Buffer_Empty=0 Event_Action_PVT_Buffer_Threshold=0 Event_Action_PVT_Buffer_Failure=0 Event_Action_PVT_Buffer_Empty_Stop=0 Event_Action_PVT_Sequence_Number=0 Event_Action_Comm_Channel=1 Event_Action_Positive_Limit=2 Event_Action_Negative_Limit=3 Event_Action_Drive_Reset=1 Event_Action_Internal_Error=1 Event_Action_Short_Circuit=1 Event_Action_Over_Current=1 Event_Action_Drive_Under_Voltage=1 Event_Action_Drive_Over_Voltage=1 Event_Action_Drive_Over_Temp=1 Event_Action_Commanded_Inhibit=1 Event_Action_User_Inhibit=1 Event_Action_Commanded_Dynamic_Brake=4 Event_Action_User_Dynamic_Brake=4 Event_Action_Phase_Detect_Fault=1 Event_Action_Commanded_Positive_Limit_Fault=2 Event_Action_Commanded_Negative_Limit_Fault=3 Maximum_Recoveries_Short_Circuit=0 Maximum_Recoveries_Hard_Under_Voltage=65535 Maximum_Recoveries_Hard_Over_Voltage=65535 Maximum_Recoveries_Drive_Over_Temperature=65535 Maximum_Recoveries_Commutation_State_Error=65535 Maximum_Recoveries_Phase_Synchronization_Error=65535 Maximum_Recoveries_Motor_Over_Temperature=65535 Maximum_Recoveries_Phase_Detection_Failure=10 Maximum_Recoveries_Feedback_Sensor_Error=65535 Maximum_Recoveries_Log_Entry_Missed=65535 Maximum_Recoveries_User_Digital_Input_Inhibit=65535 Maximum_Recoveries_Positive_Limit=65535 Maximum_Recoveries_Negative_Limit=65535 Maximum_Recoveries_Current_Limiting_Active=65535 Maximum_Recoveries_Continuous_Current_Limiting_Active=65535 Maximum_Recoveries_Current_Loop_Saturated=65535 Maximum_Recoveries_User_Under_Voltage=65535 Maximum_Recoveries_User_Over_Voltage=65535 Maximum_Recoveries_User_Digital_Input_Brake=65535 Maximum_Recoveries_Shunt_Regulator_Active=65535 Maximum_Recoveries_Command_Profiler_Active=65535 Maximum_Recoveries_Motor_Over_Speed=65535 Maximum_Recoveries_At_Command=65535 Maximum_Recoveries_Zero_Speed=65535 Maximum_Recoveries_Velocity_Following_Error_limit_Exceeded=65535 Maximum_Recoveries_Positive_Target_Velocity_Limit_Exceeded=65535 Maximum_Recoveries_Negative_Target_Velocity_Limit_Exceeded=65535 Maximum_Recoveries_Upper_Measured_Position_Limit_Exceeded=0 Maximum_Recoveries_Lower_Measured_Position_Limit_Exceeded=0 Maximum_Recoveries_At_Home_Position=65535 Maximum_Recoveries_Position_Following_Error_Limit_Exceeded=65535 Maximum_Recoveries_Upper_Target_Position_Limit_Exceeded=65535 Maximum_Recoveries_Lower_Target_Position_Limit_Exceeded=65535 Maximum_Recoveries_PVT_Buffer_Full=65535 Maximum_Recoveries_PVT_Buffer_Empty=65535 Maximum_Recoveries_PVT_Buffer_Threshold=65535 Maximum_Recoveries_PVT_Buffer_Failure=65535 Maximum_Recoveries_PVT_Buffer_Empty_Stop=65535 Maximum_Recoveries_PVT_Sequence_Number=65535 Maximum_Recoveries_Comm_Channel=65535 Maximum_Recoveries_External_Quick_Stop=65535 Recovery_Time_Motor_Over_Temperature=100 Recovery_Time_Feedback_Sensor_Error=10 Recovery_Time_Log_Entry_Missed=0 Recovery_Time_User_Digital_Input_Inhibit=0 Recovery_Time_Positive_Torque_Inhibit=0 Recovery_Time_Negative_Torque_Inhibit=0 Recovery_Time_Current_Limiting_Active=10 Recovery_Time_Continuous_Current_Limiting_Active=10 Recovery_Time_Current_Loop_Saturated=10 Recovery_Time_User_Under_Voltage=0 Recovery_Time_User_Over_Voltage=0 Recovery_Time_User_Digital_Input_Brake=0 Recovery_Time_Shunt_Regulator_Active=1000 Recovery_Time_Command_Profiler_Active=0 Recovery_Time_Motor_Over_Speed=10 Recovery_Time_At_Command=10 Recovery_Time_Zero_Speed=0 Recovery_Time_Velocity_Following_Error_Limit_Exceeded=10 Recovery_Time_Positive_Target_Velocity_Limit_Exceeded=10 Recovery_Time_Negative_Target_Velocity_Limit_Exceeded=10 Recovery_Time_Upper_Measured_Position_Limit_Exceeded=10 Recovery_Time_Lower_Measured_Position_Limit_Exceeded=10 Recovery_Time_At_Home_Position=10 Recovery_Time_Position_Following_Error_Limit_Exceeded=10 Recovery_Time_Upper_Target_Position_Limit_Exceeded=10 Recovery_Time_Lower_Target_Position_Limit_Exceeded=10 Recovery_Time_PVT_Buffer_Full=10 Recovery_Time_PVT_Buffer_Empty=10 Recovery_Time_PVT_Buffer_Threshold=10 Recovery_Time_PVT_Buffer_Failure=10 Recovery_Time_PVT_Buffer_Empty_Stop=10 Recovery_Time_PVT_Sequence_Number=10 Recovery_Time_Comm_Channel=0 Recovery_Time_External_Quick_Stop=0 Time-out_Window_Motor_Over_Temperature=25 Time-out_Window_Feedback_Sensor_Error=100 Time-out_Window_User_Digital_Input_Inhibit=10 Time-out_Window_Positive_Limit=10 Time-out_Window_Negative_Limit=10 Time-out_Window_Current_Limiting_Active=100 Time-out_Window_Continuous_Current_Limiting_Active=100 Time-out_Window_Current_Loop_Saturated=100 Time-out_Window_UserUnder_Voltage=50 Time-out_Window_User_Over_Voltage=50 Time-out_Window_User_Digital_Input_Dynamic_Brake=50 Time-out_Window_Shunt_Regulator_Active=10 Time-out_Window_Command_Profiler_Active=0 Time-out_Window_Motor_Over_Speed=100 Time-out_Window_At_Command=100 Time-out_Window_Zero_Speed=0 Time-out_Window_Velocity_Error_Limit_Exceeded=100 Time-out_Window_Positive_Velocity_Limit_Exceeded=100 Time-out_Window_Negative_Velocity_Limit_Exceeded=100 Time-out_Window_Upper_Measured_Position_Limit_Exceeded=100 Time-out_Window_Lower_Measured_Position_Limit_Exceeded=100 Time-out_Window_At_Home_Position=0 Time-out_Window_Position_Following_Error_Limit_Exceeded=100 Time-out_Window_Upper_Target_Position_Limit_Exceeded=100 Time-out_Window_Lower_Target_Position_Limit_Exceeded=100 Time-out_Window_PVT_Buffer_Full=100 Time-out_Window_PVT_Buffer_Empty=100 Time-out_Window_PVT_Buffer_Threshold=100 Time-out_Window_PVT_Buffer_Failure=100 Time-out_Window_PVT_Buffer_Empty_Stop=100 Time-out_Window_PVT_Sequence_Number=100 Time-out_Window_Comm_Channel=0 Time-out_Window_External_Quick_Stop=50 Response_Time_Motor_Over_Temperature=0 Response_Time_Feedback_Sensor_Error=0 Response_Time_Log_Entry_Missed=0 Response_Time_User_Digital_Input_Inhibit=0 Response_Time_Positive_Limit=0 Response_Time_Negative_Limit=0 Response_Time_Current_Limiting_Active=0 Response_Time_Continuous_Current_Limiting_Active=0 Response_Time_Current_Loop_Saturated=0 Response_Time_User_Under_Voltage=0 Response_Time_User_Over_Voltage=0 Response_Time_Motor_Over_Speed=0 Response_Time_User_Digital_Input_Brake=0 Response_Time_Shunt_Regulator_Active=0 Response_Time_Command_Profiler_Active=0 Response_Time_At_Command=65535 Response_Time_Zero_Speed=0 Response_Time_Velocity_Following_Error_Limit_Exceeded=0 Response_Time_Positive_Target_Velocity_limit_Exceeded=0 Response_Time_Negative_Target_Velocity_Limit_Exceeded=0 Response_Time_At_Home_Position=0 Response_Time_Position_following_Error_Limit_Exceeded=0 Response_Time_Upper_Target_Position_Limit_Exceeded=65535 Response_Time_Lower_Target_Position_Limit_Exceeded=65535 Response_Time_Upper_Measured_Position_Limit_Exceeded=0 Response_Time_Lower_Measured_Position_Limit_Exceeded=0 Response_Time_PVT_Buffer_Full=0 Response_Time_PVT_Buffer_Empty=0 Response_Time_PVT_Buffer_Threshold=0 Response_Time_PVT_Buffer_Failure=0 Response_Time_PVT_Buffer_Empty_Stop=0 Response_Time_PVT_Sequence_Number=0 Response_Time_Comm_Channel=0 Response_Time_External_Quick_Stop=0 [Scope Data Section] Trace_Mode=0 Trigger_Selector=0 Trigger_Threshold=0 Trigger_Count=0 Post_Trigger_Count=0 Initial_Skip_count=0 Skip_Count=0 Buffer_Size=2048 Parameter_1_Selector=0 Parameter_2_Selector=0 Parameter_3_Selector=0 Parameter_4_Selector=0 Parameter_5_Selector=0 Parameter_6_Selector=0 Parameter_7_Selector=0 Parameter_8_Selector=0 [Capture Configuration Parameters] Capture One Edge Configuration=1 Capture One Trigger=1 Capture One Source Low=0 Capture One Source High=0 Capture Two Edge Configuration=0 Capture Two Trigger=0 Capture Two Source Low=0 Capture Two Source High=0 Capture Three Edge Configuration=0 Capture Three Trigger=0 Capture Three Source Low=0 Capture Three Source High=0 [Reset Status History Events] Reset Action Status=0 Reset Drive Protection=119 Reset System Protection=1020 Reset System Status 1=65533 Reset System Status 2=24575 Reset System Status 3=8191 [Deadband Section] T1=0 W1=0 S1=0 T2=0 W2=0 S2=0 T3=0 W3=0 S3=0 T4=0 W4=0 S4=0 ;******************************************; ;* BEGIN READ-ONLY SECTIONS - DO NOT EDIT *; ;******************************************; [Powerboard Section] Data_Structure_ID=2 Name=PNA15A40C Version=0.02 Serial_Number=43438-0021 Build_Date=03/29/07 Build_Time=15:31:50 R_B_V=35 B_U_V=545 B_O_V=3939 B_V_M_G=82753700 B_V_M_Offset=0 R_P_C=150 R_C_C=75 Max_P_C_T=200 Max_P_To_C_T=1000 O_C_Level=263 C_M_G_A=3000000 C_M_G_B=3000000 C_M_G_C=0 C_S_T=0 Max_S_F=22 D_T_AT_P_C=1250 D_T_AT_N_C=1250 P_L_C_R=250 N_L_C_R=250 I_S_R_Max_F=0 S_R_R_P=0 D_T_S_I=65 D_T_S_E=60 R_T=65 A_T_G_C=0 A_T_Offset_C=0 I_S_R=0 I_S_Max_C_C=0 S_C=0 O_S_F=20 [Controlboard Section] Hardware_ID=325 Name=XCR362EEB Version=0.01 Serial_Number=42797-0006 build_Date=2/7/2007 Build_Time=23:59:59 N_D_I=10 N_D_O=4 N_A_I=4 N_A_O=0 Product Name= Product Version= Product Serial Number= Product Build Date= Product Build Time= ;**************************; ;* END READ-ONLY SECTIONS *; ;**************************; ;**************************************************; ;* BEGIN INTERNAL USE ONLY SECTIONS - DO NOT EDIT *; ;**************************************************; [Functionality ID Values] Functionality_Structure_ID=102 Step_Supported=1 Step_Pdi_Consumed=8 Step_Resource_Consumed=4 Step_Resource_Required=1 Step_Resource_Shared=1 Dir_Supported=1 Dir_Pdi_Consumed=32 Dir_Resource_Consumed=4 Dir_Resource_Required=1 Dir_Resource_Shared=1 Aux_Encoder_A_Supported=1 Aux_Encoder_A_Pdi_Consumed=128 Aux_Encoder_A_Resource_Consumed=8 Aux_Encoder_A_Resource_Required=2 Aux_Encoder_A_Resource_Shared=2 Aux_Encoder_B_Supported=1 Aux_Encoder_B_Pdi_Consumed=256 Aux_Encoder_B_Resouce_Consumed=8 Aux_Encoder_B_Resource_Required=2 Aux_Encoder_B_Resource_Shared=2 Aux_Encoder_I_Supported=0 Aux_Encoder_I_Pdi_Consumed=512 Aux_Encoder_I_Resource_Consumed=8 Aux_Encoder_I_Resource_Required=0 Aux_Encoder_I_Resource_Shared=2 Capture_1_Supported=1 Capture_1_Pdi_Consumed=64 Capture_1_Resource_Consumed=8 Capture_1_Resource_Required=0 Capture_1_Resource_Shared=3 Capture_2_Supported=1 Capture_2_Pdi_Consumed=128 Capture_2_Resource_Consumed=8 Capture_2_Resource_Required=0 Capture_2_Resource_Shared=3 Capture_3_Supported=1 Capture_3_Pdi_Consumed=256 Capture_3_Resource_Consumed=8 Capture_3_Resource_Required=0 Capture_3_Resource_Shared=3 Hall_Velocity_Supported=1 Hall_Velocity_Pdi_Consumed=0 Hall_Velocity_Resource_Consumed=0 Hall_Velocity_Resource_Required=0 Hall_Velocity_Resource_Shared=0 Encoder_Emulation_Supported=0 Encoder_Emulation_Pdi_Consumed=0 Encoder_Emulation_Resource_Consumed=0 Encoder_Emulation_Resource_Required=0 Encoder_Emulation_Resource_Shared=0 Velocity_Loop_Supported=1 Velocity_Loop_Pdi_Consumed=0 Velocity_Loop_Resource_Consumed=0 Velocity_Loop_Resource_Required=0 Velocity_Loop_Resource_Shared=0 Position_Loop_Supported=1 Position_Loop_Pdi_Consumed=0 Position_Loop_Resource_Consumed=0 Position_Loop_Resource_Required=0 Position_Loop_Resource_Shared=0 Capture_Supported=1 Capture_Pdi_Consumed=0 Capture_Resource_Consumed=0 Capture_Resource_Required=0 Capture_Resource_Shared=0 Command_Profiler_Supported=1 Command_Profiler_Pdi_Consumed=0 Command_Profiler_Resource_Consumed=0 Command_Profiler_Resource_Required=0 Command_Profiler_Resource_Shared=0 S_Curve_Supported=1 S_Curve_Pdi_Consumed=0 S_Curve_Resource_Consumed=0 S_Curve_Resource_Required=0 S_Curve_Resource_Shared=0 Pvt_Supported=1 Pvt_Pdi_Consumed=0 Pvt_Resource_Consumed=0 Pvt_Resource_Required=0 Pvt_Resource_Shared=0 Encoder_Following_Supported=1 Encoder_Following_Pdi_Consumed=0 Encoder_Following_Resource_Consumed=0 Encoder_Following_Resource_Required=0 Encoder_Following_Resource_Shared=0 ;**********************************; ;* END INTERNAL USE ONLY SECTIONS *; ;**********************************; ;**************************************************; ;* BEGIN INTERNAL USE ONLY SECTIONS - DO NOT EDIT *; ;**************************************************; [Additional Data] Ctn_Data=000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002440000000000000244000000000000024400000000000002440000000000000000000000000000000000000000000001440000000000000000001000000000000000000000000000000E5 ;**********************************; ;* END INTERNAL USE ONLY SECTIONS *; ;**********************************; [Firmware] Bootloader=Bootloader_RN 3.0.7 FPGA= Main=Cr362ee 3.7.2 [Lib] Interface=0 Port=COM1 BaudRate=9600