[Drive Configuration Parameters] Config_Version=2816 2816 1 0 Rated_Peak_Current=600 Rated_Continuous_Current=300 Bus_Over_Voltage=887 Bus_Under_Voltage=175 Max_Switching_Freq=20 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=CCR350EEB Powerboard=PBD60A8B [Drive Parameters Section] Drive_Control=1 Drive_Control_1=0 External_Analog_Temperature_Disable_Level=100 External_Analog_Temperature_Enable_Level=95 Thermistor_Disable_Resistance=65535 Thermistor_Enable_Resistance=65535 Thermistor_Configuration_Option=0 Start_Up_Sequence_Control=1 Start_Up_PhaseDetect_Config=0 Delay_After_Applying_Brakes=0 Delay_Before_Disengaging_Brakes=0 Quick_Stop_Deacceleration_Limit=833333.33022892475128 Quick_Stop_Deacceleration_Limit_Velocity_Mode=833333.33022892475128 Stop_Jerk_Limit_Torque_Mode=0.49999999976716935635 [Software Parameters Section] User/Aux_Position_Unit=257 User/Aux_Velocity_Distance_Unit=514 User/Aux_Velocity_Time_Unit=257 User/Aux_Acceleration_Velocity_Distance_Unit=514 User/Aux_Acceleration_Velocity_Time_Unit=257 User/Aux_Acceleration_Time_Unit=514 User/Aux_Torque_Force=257 User/Aux_Torque_Distance_Unit=257 User_Temperature_Unit=513 Load_Position_Pre_Scale_Factor=1 Load_Velocity_Pre_Scale_Factor=1 Load_Acceleration_Pre_Scale_Factor=1 Load_Torque_Pre_Scale_Factor=1 Load_Position_Scale_Factor=1 Load_Velocity_Scale_Factor=1 Load_Acceleration_Scale_Factor=1 Load_Torque_Scale_Factor=1 Load_Units_Position_and_velocity_labels=0 Load_Units_acceleration_and_torque_labels=0 User_Position_PreScaling=1 User_Velocity_PreScaling=1 User_Acceleration_PreScaling=1 User_Torque_PreScaling=1 User_Temperature_PreScaling=1 User_Position_Scale_Factor=1 User_Velocity_Scale_Factor=1 User_Acceleration_Scale_Factor=1 User_Torque_Scale_Factor=1 User_Temp_Scale_Factor=1 User_Units_Position_And_Velocity_Labels=cnt rpm User_Units_Acceleration_And_Torque_Labels=rpm/s N-m User_Units_Temperature_label=°C Use_Custom_User/Aux_Values=0 Load_Coordinate_System=0 Motor_Page_Temperature=0 Motor_Page_Velocity_Distance_And_Time=513 Motor_Page_Distance=9 Stored_User_Units_Version_id=0 Stored_User_Units_Data_Crc_Value=60438 nominal_bus_voltage=48 configurator_value=0 Motor_Commutation_Value=4 Analog_Output_Signal=0 Feedback_Availability=1 Enable_External_Brake=0 Caputre_Signals=1 Caputre_Signals_2=2 Caputre_One_Set_Reset_Source=65535 Caputre_Two_Set_Reset_Source=65535 Caputre_Three_Set_Reset_Source=65535 Custom_Halls_Deviation=10 AuxEncoderPresent=0 AuxEncoderType=0 AuxEncoderLineCount=4000 AuxEncoderLabel=Lines/rev AuxEncoderPolarity=1 AuxIndexPresent=0 AuxIndexCount=1 Drive_Library_Option=0 Emulated_Encoder_Index_Period_User=0 Gain_Config_Switch_State_Word=0 Digital_Absolute_Encoder_Manufacturer=Renishaw Selected_Network_Protocol=2 Stored_Setup_Software_Data_Crc_Value=35618 Drive_Name=Rear:DPCANTE-060B080 Firmware_Name=DPCANTE-7.4.0.9.aff Stored_User_Parameters_Version_Id=0 Stored_User_Parameters_Data_Crc_Value=30487 [Motor Parameters Section] Motor_Manufacturer=Komotek Motor_Model=KAFZ-06DF6B21 Motor_Back_EMF_Constant=3.73000001907349 Motor_Torque_Constant=0.0979999974370003 Motor_resistance=0.108000002801418 Motor_Inductance=0.419999986886978 Motor_Thermal_Constant=1 Motor_Maximum_Current=54.5999984741211 Motor_Maximum_Speed=5000 Motor_Maximum_Current_At_Maximum_Velocity=1 Motor_Continuous_Rated_Current=27.2999992370605 Motor_Feedback_Model=120° Halls, 1000 Line Encoder Motor_Number_of_Poles=8 Motor_Hall_Phasing=Other Motor_Phase_Pair=A and B Motor_Back_EMF_Constant_Units=V/Krpm Motor_Power=750 TModel_R2=9.99999997475243e-07 TModel_X1=9.99999997475243e-07 TModel_X2=9.99999997475243e-07 TModel_Xm=9.99999997475243e-07 Motor_Power_Factor=0 Motor_Efficiency=0.00999999977648258 ACInduction_Motor_Model=1 Motor_Power_Units=0 Motor_Winding=0 Rated_Bus_Voltage=1 Stored_Motor_Parameters_Version_Id=0 Stored_Motor_Parameters_Data_Crc_Value=16841 Motor_Torque_Constant_Units=N-m/A Motor_Pole_Pitch_Units=e.c./rev Motor_Maximum_Speed_Units=rpm Motor_Feedback_Device=3 Motor_Commutation_Type=2 H_CW_S_Count=48654 H_CCW_S_Count=16882 E_C_S_Count=16568 E_CCW_S_Count=16200 H_S_P_A_Error=3641 H_S_P_A_Error_Adj=182 E_S_P_A_Error=3641 E_S_P_A_Error_Adj=182 Hall_One_Plus_Selection_One=0 Hall_One_Minus_Selection_One=0 Hall_One_Plus_Selection_Two=0 Hall_One_Minus_Selection_Two=0 Hall_One_Plus_Selection_Three=0 Hall_One_Minus_Selection_Three=0 Hall_One_Plus_Selection_Four=0 Hall_One_Minus_Selection_Four=0 Hall_Two_Plus_Selection_One=0 Hall_Two_Minus_Selection_One=0 Hall_Two_Plus_Selection_Two=0 Hall_Two_Minus_Selection_Two=0 Hall_Two_Plus_Selection_Three=0 Hall_Two_Minus_Selection_Three=0 Hall_Two_Plus_Selection_Four=0 Hall_Two_Minus_Selection_Four=0 Hall_Three_Plus_Selection_One=0 Hall_Three_Minus_Selection_One=0 Hall_Three_Plus_Selection_Two=0 Hall_Three_Minus_Selection_Two=0 Hall_Three_Plus_Selection_Three=0 Hall_Three_Minus_Selection_Three=0 Hall_Three_Plus_Selection_four=0 Hall_Three_Minus_Selection_four=0 Encoder_One_Plus_Selection_One=0 Encoder_One_Minus_Selection_One=0 Encoder_One_Plus_Selection_Two=0 Encoder_One_Minus_Selection_Two=0 Encoder_One_Plus_Selection_Three=0 Encoder_One_Minus_Selection_Three=0 Encoder_One_Plus_Selection_Four=0 Encoder_One_Minus_Selection_Four=0 Encoder_Two_Plus_Selection_One=0 Encoder_Two_Minus_Selection_One=0 Encoder_Two_Plus_Selection_Two=0 Encoder_Two_Minus_Selection_Two=0 Encoder_Two_Plus_Selection_Three=0 Encoder_Two_Minus_Selection_Three=0 Encoder_Two_Plus_Selection_Four=0 Encoder_Two_Minus_Selection_Four=0 Encoder_Index_Plus_Selection_One=0 Encoder_Index_Minus_Selection_One=0 Encoder_Index_Plus_Selection_Two=0 Encoder_Index_Minus_Selection_Two=0 Encoder_Index_Plus_Selection_Three=0 encoder_Index_Minus_Selection_Three=0 Encoder_Index_Plus_Selection_Four=0 Encoder_Index_Minus_Selection_Four=0 Motor_A_Selection_One=0 Motor_A_Selection_Two=0 Motor_A_Selection_Three=0 Motor_A_Selection_Four=0 Motor_B_Selection_One=0 Motor_B_Selection_Two=0 Motor_B_Selection_Three=0 Motor_B_Selection_Four=0 Motor_C_Selection_One=0 Motor_C_Selection_Two=0 Motor_C_Selection_Three=0 Motor_C_Selection_Four=0 Motor_number_of_Indices=1 Motor_Maximum_temperature=60 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 Resolver_Cycles_Per_Rev=1 Resolver_Multi_Speed=0 Stored_Motor_2_Parameters_Version_Id=0 Stored_Motor_2_Parameters_Data_Crc_Value=27872 Encoder_Wiring_Polarity=1 Maximum_Phase_Detection_Current=0 Maximum_Phase_Detection_Time_Limit=20000 Maximum_Phase_Detection_Brake_Limit=1000 Maximum_Phase_Detection_Motion=49152 Resolver_Resolution=1 Serial_Encoder_Type=1 Position_Interpolation=0 Encoder_Steps_Per_Encoder_Sine_Period=1 Secondary_Encoder_Position_Interpolation=0 Torque_Constant_Over_Inertia=0.000396728515625 Encoder_Emulation_Divide=1 Encoder_SinCos_Error_Window=0.5 Encoder_Emulation_Mode=0 Encoder_Position_Of_Emulated_Index=0 Encoder_Emulated_Counts_Per_Emulated_Index=0 Serial_Encoder_Resolution=16 Serial_Encoder_Format=16 [Drive Connection Section] Rs232_Drive_Address=63 Rs232_Baud_Rate=4 Rs485_Drive_Address=63 Rs485_Baud_Rate=4 RS485_Modbus_Disable=0 [Auxiliary Section] Auxiliary_Input_One_Counts=1 Auxiliary_Output_One_Counts=1 Auxiliary_Input_One_Counts_Mode1=1 Auxiliary_Output_One_Counts_Mode1=1 [Commanded Input Section] Commanded_Input_One=0 Commanded_Input_Two=0 Commanded_Input_Three=0 Commanded_Input_Four=0 [I/O Section] DO_Active_Level_Mask=0 StartUp_Disabled_Mask=0 Internal_Error_Mask=0 Short_Circuit_Mask=0 Over_Current_Mask=0 Under_Voltage_Mask=0 Over_Voltage_Mask=0 Over_Temperature_Mask=0 Parameter_Restore_Error_Mask=0 Parameter_Save_Error_Mask=0 Commutation_State_Error_Mask=0 Encoder_Synchronization_Error_Mask=0 Motor_Over_Temperature_Mask=0 Phase_Detection_Fault_Mask=0 Feedback_Sensor_Error_Mask=0 Log_Entry_Missed_Mask=0 Commanded_Disable_Mask=0 DO_User_Disable_Mask=0 Positive_Limit_Active_Mask=0 Negative_Limit_Active_Mask=0 Current_Limiting__Foldback_Mask=0 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 DO_User_Aux_Disable_Mask=0 Shunt_Regulator_Active_Mask=0 Phase_Detection_Complete_Mask=0 Command_Profiler_Active_Mask=0 Motor_Over_Speed_Mask=0 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=0 Upper_Target_Position_Limit_Exceeded_Mask=0 Lower_Target_Position_Limit_Exceeded_Mask=0 DO_Load_Preset_Position_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=1 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 Safe_Torque_Off=0 Zero_Position_Error=0 Motion_Engine_Fault=0 Motion_Engine_Active=0 Active_Motion_Busy=0 Active_Motion_Done=0 Active_Motion_Error=0 Active_Motion_Active=0 Active_Motion_Aborted=0 Active_Motion_Execute=0 Active_Motion_Motion_Done=0 Active_Motion_Sequence_Done=0 Valid_Reference_Frame=0 Jog_Active=0 PWM_And_Direction_Broken_Wire=0 PLS_Pulse_One_Post_Active_Level=0 PLS_Pulse_Two_Post_Active_Level=0 Active_Motion_Interrrupt_Mask=0 DI_Active_Level_Mask=0 DI_User_Disable_Mask=1 Positive_Limit_Mask=0 Negative_Limit_Mask=0 Motor_Over_Temperature_Inhibit_Mask=0 DI_Phase_Detection_Mask=0 User_Aux_Disable_Mask=0 DI_Load_Preset_Position_Mask=0 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=0 Mode Select Address Line 0=0 Engage Cam=0 Enable Gain Set 1=0 Zero Position Error=0 Profiler Parameters Select=0 Source Modifier Parameters Select=0 Motion Engine Page Load=0 Motion Engine Enable=0 Motion Engine Motion Start=0 Motion Engine Motion Select Address Line 0=0 Motion Engine Motion Select Address Line 1=0 Motion Engine Motion Select Address Line 2=0 Motion Engine Motion Select Address Line 3=0 Interrupt Active Motion Mask=0 Jog Plus=0 Jog Minus=0 Jog Select=0 Jog Select1=0 Output_One_Source_Enum_Lower=0 Output_One_Source_Enum_Upper=0 Output_One_Offset=0 Output_One_Gain=0 Output_One_Right_Shift=0 Output_Two_Source_Enum_Lower=0 Output_Two_Source_Enum_Upper=0 Output_Two_Offset=0 Output_Two_Gain=0 Output_Two_Right_Shift=0 Input_One_Offset_Config0=0 Input_One_ScaleFactor_Config0=0 Input_Two_Offset_Config0=0 Input_two_ScaleFactor_Config0=0 Input_Three_Offset_Config0=0 Input_Three_ScaleFactor_Config0=0 Input_four_Offset_Config0=0 Input_Four_ScaleFactor_Config0=0 Input_One_Offset_Config1=0 Input_One_ScaleFactor_Config1=0 Input_Two_Offset_Config1=0 Input_two_ScaleFactor_Config1=0 Input_Three_Offset_Config1=0 Input_Three_ScaleFactor_Config1=0 Input_four_Offset_Config1=0 Input_Four_ScaleFactor_Config1=0 [Communication Two Parameters] Drive Address=11 Baud Rate=1000 [Control Loops Configuration Section] P_H_A=0 D_C_D_I_C_A=0 D_C_M_C0=290 D_C_M_C1=49426 M_T_F=0 C_LMT_S=0 V_L_F_C0=4 V_L_F_C1=4 P_L_F_C0=7 P_L_F_C1=7 C_S_C0=28 C_S_C1=0 B_V_F_C0=0 B_V_F_C1=0 B_P_F_C0=0 B_P_F_C1=0 B_S_C0=0 B_S_C1=0 B_C_I_C0=0 B_C_I_C1=0 B_V_I_C0=0 B_V_I_C1=0 B_P_I_C0=0 B_P_I_C1=0 S_N_O_S_C0=0 S_N_O_S_C1=0 D_C_T_C_O_S_C0=36 D_C_T_C_O_S_C1=0 D_C_V_O_S_C0=37 D_C_V_O_S_C1=0 D_C_P_O_S_C0=0 D_C_P_O_S_C1=0 [Commutation Section] Encoder_Res_F=10000 E_Index_Offset=0 Analog_Feedback_Position_Scaling=0 Analog_Feedback_Velocity_Scaling=0 Analog_Feedback_Position_Coord=0 Analog_Feedback_Velocity_Coord=0 Analog_Feedback_Position_Geometry=0 Analog_Feedback_Velocity_Geometry=0 Analog_Feedback_Position_Unit_ID=0 Analog_Feedback_Velocity_Unit_ID=0 Encoder_Multi_Turn_Count=0 Encoder_Version_Id=0 Encoder_Data_Crc_Value=22797 [Voltage Section] Over-Voltage_Limit=57.999048156738290061 Under-Voltage_Limit=37.995260009765630116 Shunt_Regulator_Enable_Threshold=0 Shunt_Regulator_Configuration=0 External_Shunt_Resistance=100 External_Shunt_Power=0 External_Shunt_Inductance=0 [Current Section] Torque_Loop_Proportional_Gain=2.365234375 Torque_Loop_Integral_Gain=0.03125 Torque_Target_Offset=0 Peak_Current_Limit=54.5947265625 Peak_Current_Hold_Time=2000 Continuous_Current_Limit=19.29931640625 Peak_to_Continuous_Current_Tansition_Time=10000 Flux_Ref_Proportional_Gain=0 Flux_Ref_Integral_Gain=0 Rated_Line_Current=21.1962890625 NoLoad_Magnetization_Current=21.1962890625 Rated_Line_Frequency_Variable=60 Rated_Rotor_Base_Speed=1725 F_W_Threshold_Speed=578 Motor_Type=2 Auxiliary_Commutation_Mode=0 Encoder_Direction=1 S_Mode=7 E_Counts/E_Cycle=2500 H_S_Angle1=48654 H_S_Angle2=16882 Index_S_Angle1=16568 Index_S_Angle2=16200 N_T_A_At_E_Z_P=0 Max_S_P_A_Error=3641 Max_S_P_A_Adj=182 E_Cycle_Adj_Count=1 E_Counts/Cycles_Adj=0 V_H_S_Mask=126 H_Angle1=0 H_Angle2=49321 H_Angle3=5421 H_Angle4=60115 H_Angle5=27364 H_Angle6=38398 H_Angle7=16360 H_Angle8=0 Phase_Detect_Control=0 Phase_Offset=0 Current_Limiting_Control=1 Torque_At_Command_Window=0.5987548828125 [Velocity Section] Feedback_Direction=3 Feedback_Filter_Coefficient=0.0081348726525860958619 Proportional_Gain=0.0666656494140625 Integral_Gain=4.9988739192485809326e-07 Derivative_Gain=0 Acceleration_Feed_Forward_Gain=0 Integrator_Decay_Rate=0 Proportional_Gain_Set1=0 Integral_Gain_Set1=0 Derivative_Gain_Set1=0 Acceleration_Feed_Forward_Gain_Set1=0 Motor_Over_Speed_Limit=833333.282470703125 Zero_Speed_Limit=500.030517578125 Velocity_At_Speed_Limit=1666.717529296875 Velocity_Loop_Following_Error_Limit=8333.282470703125 Positive_Velocity_Limit=833333.282470703125 Negative_Velocity_Limit=-833333.282470703125 Velocity_Loop_Integrator_Decay_Window=0 [Position Section] Proportional_Gain=0 Integral_Gain=0 Derivative_Gain=0 Velocity_Feed_Forward_Gain=0 Acceleration_Feed_Forward_Gain=0 Feedback_Direction=3 Integrator_Decay_Rate=0 Proportional_Gain_Set1=0 Integral_Gain_Set1=0 Derivative_Gain_Set1=0 Velocity_Feed_Forward_Gain_Set1=0 Acceleration_Feed_Forward_Gain_Set1=0 Preset_Position_Value=0 Home_Position_Value=0 Upper_Measured_Position_Limit=2147483647 Lower_Measured_Position_Limit=-2147483647 In_Home_Position_Window=250 In_Position_Window=250 Following_Error_Window=10000 Upper_Target_position_Limit=2147483647 Lower_Target_Position_Limit=-2147483647 Position_Limits_Control=0 Position_Loop_Integrator_Decay_Window=0 Speed_During_Search_for_Switch=6666.56494140625 Speed_During_Search_for_Zero=6666.56494140625 Homing_Method=35 Acceleration=66666.607744991779327 [PVT Generator Section] Minimum_Point_In_Buffer=0 Input_Mode=0 [Command Profiler Section] Positive_Target_Positve_Change_Config0=0.00016666669398546218872 Positive_Target_Negative_Change_Config0=0.00016666669398546218872 Negative_Target_Negative_Change_Config0=0.00016666669398546218872 Negative_Target_Positive_Change_Config0=0.00016666669398546218872 Positive_Target_Positve_Change_Config1=32767.999999993946403 Positive_Target_Negative_Change_Config1=32767.999999993946403 Negative_Target_Negative_Change_Config1=32767.999999993946403 Negative_Target_Positive_Change_Config1=32767.999999993946403 S_Curve_Max_Velocity_Config0=20 S_Curve_Max_Acceleration_Config0=0.00099999457597732543945 S_Curve_Max_Deceleration_Config0=0.00099999457597732543945 S_Curve_Max_Velocity_Config1=32767.999999993946403 S_Curve_Max_Acceleration_Config1=1 S_Curve_Max_Deceleration_Config1=1 [Event Handling Section] Event_Action_Parameter_Restore_Error=8 Event_Action_Parameter_Save_Error=8 Event_Action_Commutation_State_Error=8 Event_Action_Commutation_Sync_Fault=0 Event_Action_Motor_Over_Temperature=8 Event_Action_Feedback_Sensor_Error=8 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=0 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=0 Event_Action_Lower_Measured_Position_Limit_Exceeded=0 Event_Action_At_Home_Position=0 Event_Action_Position_Following_Error_Limit_Exceeded=8 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=4 Event_Action_Positive_Limit=5 Event_Action_Negative_Limit=6 Event_Action_Drive_Reset=10 Event_Action_Internal_Error=10 Event_Action_Short_Circuit=10 Event_Action_Over_Current=10 Event_Action_Drive_Under_Voltage=11 Event_Action_Drive_Over_Voltage=10 Event_Action_Drive_Over_Temp=10 Event_Action_Commanded_Disable=8 Event_Action_User_Disable=9 Event_Action_Aux_User_Disable=9 Event_Action_Phase_Detect_Fault=10 Event_Action_Commanded_Positive_Limit_Fault=2 Event_Action_Commanded_Negative_Limit_Fault=3 Event_Action_Pwm_And_Direction_Broken_Wire=8 Maximum_Recoveries_Short_Circuit=0 Maximum_Recoveries_Hard_Under_Voltage=0 Maximum_Recoveries_Hard_Over_Voltage=0 Maximum_Recoveries_Drive_Over_Temperature=0 Maximum_Recoveries_Commutation_State_Error=0 Maximum_Recoveries_Phase_Synchronization_Error=65535 Maximum_Recoveries_Motor_Over_Temperature=0 Maximum_Recoveries_Phase_Detection_Failure=0 Maximum_Recoveries_Feedback_Sensor_Error=0 Maximum_Recoveries_Log_Entry_Missed=65535 Maximum_Recoveries_User_Disable=0 Maximum_Recoveries_Positive_Limit=0 Maximum_Recoveries_Negative_Limit=0 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_Aux_Disable=0 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=0 Maximum_Recoveries_Positive_Target_Velocity_Limit_Exceeded=65535 Maximum_Recoveries_Negative_Target_Velocity_Limit_Exceeded=65535 Maximum_Recoveries_Upper_Measured_Position_Limit_Exceeded=65535 Maximum_Recoveries_Lower_Measured_Position_Limit_Exceeded=65535 Maximum_Recoveries_At_Home_Position=65535 Maximum_Recoveries_Position_Following_Error_Limit_Exceeded=0 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=0 Maximum_Recoveries_External_Quick_Stop=65535 Maximum_Recoveries_Pwm_And_Direction_Broken_Wire=0 Maximum_Recoveries_Motion_Engine_Fault=0 Recovery_Time_Motor_Over_Temperature=0 Recovery_Time_Feedback_Sensor_Error=0 Recovery_Time_Log_Entry_Missed=0 Recovery_Time_User_Disable=0 Recovery_Time_Positive_Torque_Inhibit=0 Recovery_Time_Negative_Torque_Inhibit=0 Recovery_Time_Current_Limiting_Active=0 Recovery_Time_Continuous_Current_Limiting_Active=0 Recovery_Time_Current_Loop_Saturated=0 Recovery_Time_User_Under_Voltage=0 Recovery_Time_User_Over_Voltage=0 Recovery_Time_User_Aux_Disable=0 Recovery_Time_Shunt_Regulator_Active=0 Recovery_Time_Command_Profiler_Active=0 Recovery_Time_Motor_Over_Speed=0 Recovery_Time_At_Command=0 Recovery_Time_Zero_Speed=0 Recovery_Time_Velocity_Following_Error_Limit_Exceeded=0 Recovery_Time_Positive_Target_Velocity_Limit_Exceeded=0 Recovery_Time_Negative_Target_Velocity_Limit_Exceeded=0 Recovery_Time_Upper_Measured_Position_Limit_Exceeded=0 Recovery_Time_Lower_Measured_Position_Limit_Exceeded=0 Recovery_Time_At_Home_Position=10 Recovery_Time_Position_Following_Error_Limit_Exceeded=0 Recovery_Time_Upper_Target_Position_Limit_Exceeded=0 Recovery_Time_Lower_Target_Position_Limit_Exceeded=0 Recovery_Time_PVT_Buffer_Full=0 Recovery_Time_PVT_Buffer_Empty=0 Recovery_Time_PVT_Buffer_Threshold=0 Recovery_Time_PVT_Buffer_Failure=0 Recovery_Time_PVT_Buffer_Empty_Stop=0 Recovery_Time_PVT_Sequence_Number=0 Recovery_Time_Comm_Channel=0 Recovery_Time_External_Quick_Stop=0 Recovery_Time_Pwm_And_Direction_Broken_Wire=0 Time-out_Window_Motor_Over_Temperature=0 Time-out_Window_Feedback_Sensor_Error=0 Time-out_Window_User_Disable=100 Time-out_Window_Positive_Limit=100 Time-out_Window_Negative_Limit=100 Time-out_Window_Current_Limiting_Active=100 Time-out_Window_Continuous_Current_Limiting_Active=0 Time-out_Window_Current_Loop_Saturated=100 Time-out_Window_UserUnder_Voltage=100 Time-out_Window_User_Over_Voltage=100 Time-out_Window_User_Aux_Disable=100 Time-out_Window_Shunt_Regulator_Active=100 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=100 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=0 Time-out_Window_PVT_Buffer_Empty=0 Time-out_Window_PVT_Buffer_Threshold=0 Time-out_Window_PVT_Buffer_Failure=0 Time-out_Window_PVT_Buffer_Empty_Stop=0 Time-out_Window_PVT_Sequence_Number=0 Time-out_Window_Comm_Channel=0 Time-out_Window_External_Quick_Stop=100 Time-out_Window_Pwm_And_Direction_Broken_Wire=100 Response_Time_Motor_Over_Temperature=0 Response_Time_Feedback_Sensor_Error=0 Response_Time_Log_Entry_Missed=0 Response_Time_User_Disable=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_Aux_Disable=0 Response_Time_Shunt_Regulator_Active=0 Response_Time_Command_Profiler_Active=0 Response_Time_At_Command=0 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=0 Response_Time_Lower_Target_Position_Limit_Exceeded=0 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 Response_Time_Pwm_And_Direction_Broken_Wire=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=800 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=0 Capture One Trigger=0 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=255 Reset Drive Protection=127 Reset System Protection=8191 Reset System Status 1=65535 Reset System Status 2=57343 Reset System Status 3=8191 [DeadBand Section] T_config0=0 W_Config0=0 S_Config0=0 T_Config1=0 W_Config1=0 S_Config1=0 ;******************************************; ;* BEGIN READ-ONLY SECTIONS - DO NOT EDIT *; ;******************************************; ;******************************************; ;* BEGIN READ-ONLY SECTIONS - DO NOT EDIT *; ;******************************************; [Powerboard Section] Data_Structure_ID=4 Name=PBD60A8B Version=0.04 Serial_Number=85113-1074 Build_Date=10/19/20 Build_Time=15:31:53 R_B_V=8 B_U_V=175 B_O_V=887 B_V_M_G=18734000 B_V_M_Offset=0 R_P_C=600 R_C_C=300 Max_P_C_T=200 Max_P_To_C_T=1000 O_C_Level=1050 C_M_G_A=12000000 C_M_G_B=12000000 C_M_G_C=0 C_S_T=0 Max_S_F=20 D_T_AT_P_C=1000 D_T_AT_N_C=1000 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=75 D_T_S_E=65 R_T=75 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 C_S_C_C_F=0 C_S_D_C_F=0 C_S_R_C_F=0 P_B_S_D_T=0 P_T_S_D_T=0 D_C_F_C=5000 R_C_F_C=50000 [Controlboard Section] Hardware_ID=334 Name=CCR350EEB Version=0.06 Serial_Number=85843-1006 build_Date=04/02/21 Build_Time=15:00:27 N_D_I=8 N_D_O=4 N_A_I=3 N_A_O=2 Product Name=DPCANTE-060B080E Product Version=0.06 Product Serial Number=86284-1015 Product Build Date=04/12/21 Product Build Time=12:31:08 File Storage Area Size=8192 Motion Engine Script Storage Area Size=8192 Gain Scheduling Table Storage Area Size=8192 Camming Table Storage Area Size=8192 Feature Key One=0 Feature Key Two=0 ;**************************; ;* END READ-ONLY SECTIONS *; ;**************************; ;**************************; ;* END READ-ONLY SECTIONS *; ;**************************; ;**************************************************; ;* BEGIN INTERNAL USE ONLY SECTIONS - DO NOT EDIT *; ;**************************************************; ;**************************************************; ;* BEGIN INTERNAL USE ONLY SECTIONS - DO NOT EDIT *; ;**************************************************; [Functionality ID Values] Supported_Firmware_Functionality_1=21845 Supported_Firmware_Functionality_2=1109 Step_And_Direction_Support_Data=8194 Step_And_Direction_Consumed_Hardware_Inputs=40 Step_And_Direction_Consumed_Hardware_Outputs=0 Aux_Encoder_Support_Data=4105 Aux_Encoder_Consumed_Hardware_Inputs=192 Aux_Encoder_Consumed_Hardware_Outputs=0 Aux_Encoder_Index_Support_Data=8 Aux_Enocder_Index_Consumed_Hardware_Inputs=512 Aux_Encoder_Index_Consumed_Hardware_Outputs=0 Capture_Unit_Support_Data=4103 Capture_Unit_Consumed_Hardware_Inputs=0 Capture_Unit_Consumed_Hardware_Outputs=0 Capture_1_Support_Data=7 Capture_1_Consumed_Hardware_Inputs=8 Capture_1_Consumed_Hardware_Outputs=0 Capture_2_Support_Data=7 Capture_2_Consumed_Hardware_Inputs=64 Capture_2_Consumed_Hardware_Outputs=0 Capture_3_Support_Data=7 Capture_3_consumed_Hardware_Inputs=128 Capture_3_Consumed_Hardware_Outputs=0 PWM_Input_Support_data=4101 PWM_Input_Consumed_Hardware_Inputs=64 PWM_Input_Consumed_Hardware_Outputs=0 PWM_Direction_Support_Data=5 PWM_Direction_Consumed_Hardware_Inputs=128 PWM_Direction_Consumed_Hardware_Outputs=0 Hall_Velocity_Support_Data=11 Hall_Velocity_Consumed_Hardware_Inputs=0 Hall_Velocity_Consumed_Hardware_Outputs=0 Encoder_Emulation_Support_Data=12 Encoder_Emulation_Consumed_Hardware_Inputs=0 Encoder_Emulation_Consumed_Hardware_Outputs=0 DXIO_Channel_Support_Data=2062 DXIO_Channel_Consumed_Hardware_Inputs=0 DXIO_Channel_Consumed_Hardware_Outputs=0 DX_Digital_Inputs_Bank_1_Support_Data=14 DX_Digital_Input_Bank_1_Consumed_Hardware_Inputs=0 DX_Digital_Input_Bank_1_Consumed_Hardware_Outputs=0 DX_Digital_Input_Bank_2_Support_Data=14 DX_Digital_Input_Bank_2_Consumed_Hardware_Inputs=0 DX_Digital_Input_Bank_2_Consumed_Hardware_Outputs=0 DX_Digital_Input_Bank_3_Support_Data=14 DX_Digital_Input_Bank_3_Consumed_Hardware_Inputs=0 DX_Digital_Input_Bank_3_Consumed_Hardware_Outputs=0 DX_Digital_Input_Bank_4_Support_Data=14 DX_Digital_Input_Bank_4_Consumed_Hardware_Inputs=0 DX_Digital_Input_Bank_4_Consumed_Hardware_Outputs=0 DX_Digital_Output_Bank_1_Support_Data=14 DX_Digital_Output_Bank_1_Consumed_Hardware_Inputs=0 DX_Digital_Output_Bank_1_Consumed_Hardware_Outputs=0 DX_Digital_Output_Bank_2_Support_Data=14 DX_Digital_Output_Bank_2_Consumed_Hardware_Inputs=0 DX_Digital_Output_Bank_2_Consumed_Hardware_Outputs=0 DX_Digital_Output_Bank_3_Support_Data=14 DX_Digital_Output_Bank_3_Consumed_Hardware_Inputs=0 DX_Digital_Output_Bank_3_Consumed_Hardware_Outputs=0 DX_Digital_Output_Bank_4_Support_Data=14 DX_Digital_Output_Bank_4_Consumed_Hardware_Inputs=0 DX_Digital_Output_Bank_4_Consumed_Hardware_Outputs=0 DX_ADC_Bank_1_Support_Data=14 DX_ADC_Bank_1_Consumed_Hardware_Inputs=0 DX_ADC_Bank_1_Consumed_Hardware_Outputs=0 DX_ADC_Bank_2_Support_Data=14 DX_ADC_Bank_2_Consumed_Digital_Inputs=0 DX_ADC_Bank_2_Consumed_Digital_Outputs=0 DX_ADC_Bank_3_Support_Data=14 DX_ADC_Bank_3_Consumed_Hardware_Inputs=0 DX_ADC_Bank_3_Consumed_Hardware_Outputs=0 DX_ADC_Bank_4_Support_Data=14 DX_ADC_Bank_4_Consumed_Hardware_Inputs=0 DX_ADC_Bank_4_Consumed_Hardware_Outputs=0 DX_DAC_Bank_1_Support_Data=14 DX_DAC_Bank_1_Consumed_Hardware_Inputs=0 DX_DAC_Bank_1_Consumed_Hardware_Outputs=0 DX_DAC_Bank_2_Support_Data=14 DX_DAC_Bank_2_Consumed_Hardware_Inputs=0 DX_DAC_Bank_2_Consumed_Hardware_Outputs=0 DX_DAC_Bank_3_Support_Data=14 DX_DAC_Bank_3_Consumed_Hardware_Inputs=0 DX_DAC_Bank_3_Consumed_Hardware_Outputs=0 DX_DAC_Bank_4_Support_Data=14 DX_DAC_Bank_4_Consumed_Hardware_Inputs=0 DX_DAC_Bank_4_Consumed_Hardware_Outputs=0 ;**********************************; ;* END INTERNAL USE ONLY SECTIONS *; ;**********************************; ;**********************************; ;* END INTERNAL USE ONLY SECTIONS *; ;**********************************; ;**************************************************; ;* BEGIN INTERNAL USE ONLY SECTIONS - DO NOT EDIT *; ;**************************************************; ;**************************************************; ;* BEGIN INTERNAL USE ONLY SECTIONS - DO NOT EDIT *; ;**************************************************; [Additional Data] Ctn_Data=00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000244000000000000024400000000000002440000000000000244000000000000000000000000000000000000000000000144000000000000000000100000000000000000000000000000000 ;**********************************; ;* END INTERNAL USE ONLY SECTIONS *; ;**********************************; ;**********************************; ;* END INTERNAL USE ONLY SECTIONS *; ;**********************************; [Firmware] Bootloader=Bootloader_CN 7.2.0 FPGA= Main=Ccr350ee 7.4.0.9 MicroBlaze= Motion Engine Version=256 Motion Engine Program Page Size=1024 [CanOpen Mode Of Operation] Mode_Of_Operation=4 Guard_Time=50 Life_Time_Factor=13 Can_Options=0 Cyclic_Period_Mantissa=5 Cyclic_Period_Exponent=-3 [TPDO Timers] TPDO_1_Cycle_Time=8 TPDO_1_Assigned=580 TPDO_2_Cycle_Time=0 TPDO_2_Assigned=0 [CanOpen Commands] Rpdo 1=1035 Rpdo 2=2147484417 Rpdo 3=2147484673 Rpdo 4=2147484171 Rpdo 5=2147484171 Rpdo 21=2147484929 Rpdo 22=779 Rpdo 23=523 Rpdo 24=2147484977 Rpdo 25=2147484993 Rpdo 26=1280 Rpdo 27=2147485009 Rpdo 28=2147485025 Tpdo 1=2147484033 Tpdo 3=2147484289 Tpdo 4=1073742731 Tpdo 5=3221225867 Tpdo 21=3221226123 Tpdo 22=3221226177 Tpdo 23=1073742987 Tpdo 24=2147484545 Tpdo 25=2147484801 Tpdo 26=1073742475 [CanOpen Tpdo 26 Mapping] Object_1=536937232 Object_2=537002512 Object_3=537002768 Object_4=537003280 Object_5=0 Object_6=0 Object_7=0 Object_8=0 Object_Count=4 RPdo_1_Transmission_Type=255 RPdo_2_Transmission_Type=255 RPdo_3_Transmission_Type=255 RPdo_4_Transmission_Type=0 RPdo_5_Transmission_Type=0 RPdo_21_Transmission_Type=255 RPdo_22_Transmission_Type=255 RPdo_23_Transmission_Type=255 RPdo_24_Transmission_Type=255 RPdo_25_Transmission_Type=255 RPdo_26_Transmission_Type=255 RPdo_27_Transmission_Type=255 RPdo_28_Transmission_Type=255 TPdo_1_Transmission_Type=1 TPdo_3_Transmission_Type=1 TPdo_4_Transmission_Type=255 TPdo_5_Transmission_Type=255 TPdo_21_Transmission_Type=2 TPdo_22_Transmission_Type=1 TPdo_23_Transmission_Type=255 TPdo_24_Transmission_Type=1 TPdo_25_Transmission_Type=1 TPdo_26_Transmission_Type=255 [TPDO Change] Object_Id=0 Delta_Value=0 Assigned_TPDO=0 Bit_Change_1_Object_Id=0 Bit_Change_1_Bit_Mask=0 Bit_Change_1_Assigned_Tpdos=0 Bit_Change_2_Object_Id=0 Bit_Change_2_Bit_Mask=0 Bit_Change_2_Assigned_Tpdos=0 Value_Reached_Object_Id=0 Value_Reached_Theshold=0 Value_Reached_Assigned_Tpdos=0 Value_Reached_Reached_Direction=0 [Pwm And Direction Input Parameters] Pwm_And_Direction_Configuration=0 Pwm_Input_Offset_Config0=0 Pwm_Input_Scale_Factor_Config0=0 Pwm_Input_Offset_Config1=0 Pwm_Input_Scale_Factor_Config1=-4194304 [Cam Configuration] Cam_Configuration=0 Max_Number_Of_Table_Entries=1 Initial_Table_Position=0 Cam_Modulo_Length=1 Cam_Transition_Time=0 [Cam Table Entry One] Segment_0_Scale_Term=0 Segment_0_Constant_Term=-8388621 Segment_0_Linear_Term=-8388621 Segment_0_Quadratic_Term=-8388621 Segment_0_Cubic_Term=-8388621 Segment_1_Start_Position=-8388621 Segment_1_Scale_Term=0 Segment_1_Constant_Term=-8388621 Segment_1_Linear_Term=-8388621 Segment_1_Quadratic_Term=-8388621 Segment_1_Cubic_Term=-8388621 Segment_2_Start_Position=-8388621 Segment_2_Scale_Term=0 Segment_2_Constant_Term=-8388621 Segment_2_Linear_Term=-8388621 Segment_2_Quadratic_Term=-8388621 Segment_2_Cubic_Term=-8388621 Segment_3_Start_Position=-8388621 Segment_3_Scale_Term=0 Segment_3_Constant_Term=-8388621 Segment_3_Linear_Term=-8388621 Segment_3_Quadratic_Term=-8388621 Segment_3_Cubic_Term=-8388621 [BiQuad Filter Parameters] BiQuad_Stage_1_Gain=0.99999999999948618878 BiQuad_Stage_1_B0=0.99999999999948618878 BiQuad_Stage_1_B1=0 BiQuad_Stage_1_B2=0 BiQuad_Stage_1_A1=0 BiQuad_Stage_1_A2=0 BiQuad_Stage_2_Gain=0.99999999999948618878 BiQuad_Stage_2_B0=0.99999999999948618878 BiQuad_Stage_2_B1=0 BiQuad_Stage_2_B2=0 BiQuad_Stage_2_A1=0 BiQuad_Stage_2_A2=0 BiQuad_Stage_3_Gain=0.99999999999948618878 BiQuad_Stage_3_B0=0.99999999999948618878 BiQuad_Stage_3_B1=0 BiQuad_Stage_3_B2=0 BiQuad_Stage_3_A1=0 BiQuad_Stage_3_A2=0 BiQuad_Stage_4_Gain=0.99999999999948618878 BiQuad_Stage_4_B0=0.99999999999948618878 BiQuad_Stage_4_B1=0 BiQuad_Stage_4_B2=0 BiQuad_Stage_4_A1=0 BiQuad_Stage_4_A2=0 BiQuad_Stage_5_Gain=0.99999999999948618878 BiQuad_Stage_5_B0=0.99999999999948618878 BiQuad_Stage_5_B1=0 BiQuad_Stage_5_B2=0 BiQuad_Stage_5_A1=0 BiQuad_Stage_5_A2=0 BiQuad_Stage_6_Gain=0.99999999999948618878 BiQuad_Stage_6_B0=0.99999999999948618878 BiQuad_Stage_6_B1=0 BiQuad_Stage_6_B2=0 BiQuad_Stage_6_A1=0 BiQuad_Stage_6_A2=0 [Next Gear Ratio] Input_Count=1 Output_Count=1 [Voltage Mode Parameters] IR Compensation=0 Voltage Constant=0.5 Power Board Compensation Dead Band=104857600 Power Board Compensation Gain=463404 [Drive Signature Parameters] Time_Stamp=0 Comm_Parameters_Signature=14660 Comm_Primary_Parameters_Signature=60920 Non_Axis_Parameters_Signature=1 Axis_Parameters_Signature=1 [Jog Parameters] Maximum_Acceleration=0.00067138671875 Maximum_Deceleration=0.00067138671875 Jog_0_Speed=0.666656494140625 Jog_1_Speed=1.33331298828125 Jog_2_Speed=2 Jog_3_Speed=2.666656494140625 [Index Sequence Parameters] Index_Sequence_Program=5061636b656420493153310000000000000000000000000000000000000000000100010000040200000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000004b000000000000004b00000000000000000000004eae000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000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[User Storage Memory] User Storage=01000000000002000000000000000017000800000000000000000008496e646578203000000100617b5d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d0d00ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff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[Network IO Configuration] Drive_PDI_Source_Select=0 Network_PDO_Control_Mux=0 Drive_ADC_Source_Select=0 Network_DAC_Control_Mux=0 [Motion Engine Configuration] Motion_Engine_Config_Word=0 [Programmable limit Switch] Configuration=0 RolloverPositionCount=20000 Pulse_Generator_One_Config=0 Pulse_One_Lower_Position_Value=1000 Pusle_One_Upper_Position_Value=1750 Pulse_One_Repeat_Delta_Value=3000 Pulse_One_Pulse_Width_Time_Window=10 Pulse_Generator_Two_Config=0 Pulse_Two_Lower_Position_Value=2000 Pulse_Two_Upper_Position_Value=2500 Pulse_Two_Repeat_Delta_Value=2000 Pulse_Two_Width_Time_Window=10