$ Description: 842D Encoder Ser A, 4.0x Absolute Multi-Turn Encoder, 60mm, 26 bit $ Last Changes: 2.02 PAH 02/17/06 Cfg Assy added, updated naming, vendor name, $ IO Assy added, diagnostic enumeration, COS variant correction $ Note: !!! Not compatible with old .dnt files !!! $ Note: Compatible with Revision 2.19 of EDS Checker utility $ $ Edit History: 1.20 02/08/01 DR Initial Release $ 1.21 05/11/01 PAH Param 63 NA, $ COS not support position + velocity param 67 and input assy 3 $ 1.22 07/01/01 PAH Param 63 Read Only help clean up $ 1.23 07/06/01 PAH New help, less other stuff $ 1.24 10/30/02 PAH ICON, Not used, Data Types, Default IO $ 2.01 10/30/05 PAH Cfg Assy added, updated naming, vendor name, $ IO Assy added, diagnostic enumeration $ 2.02 02/17/06 PAH COS variant correction. [File] DescText = "Absolute Multi-Turn Encoder 842D, 60mm, 26 bit"; CreateDate = 06-08-2000; $mm-dd-yyyy CreateTime = 14:10:00; ModDate = 02-17-2006; ModTime = 13:45:00; Revision = 2.02; HomeURL = "http://www.ab.com/networks/eds/DN/00010073002E0400.eds"; $ ================= Device Description Section ========================= [Device] VendCode = 1; VendName = "Rockwell Automation/Allen-Bradley"; $ us ProdType = 115; ProdTypeStr = "Miscellaneous"; ProdCode = 46; MajRev = 4; MinRev = 1; ProdName = "Absolute Multi-Turn Encoder 842D, 60mm, 26 bit"; Catalog = "842D-60131331B**"; Icon = "842D_Encoder.ico"; $ Configurationby = 1, EDS, Preset_Button, Switches $ BaudRateSwitch = True $ Baud Rates supported = 3, 125, 250, 500 $ MACIDSwitch = True $ MACID supported = 1, 0-63 $ Faulted Address Recovery = False $ CCV = False $ ADR = False $ AppNVFlash = None $ UCMM = False $ Node Power = From network $ Operating Current = ??? ma $ Response Time = .00025 seconds $ Indicators = 1, Mod/Net LED [Device Classification] Class1 = DeviceNet; $ ================= IO Characteristics Section ========================= [IO_Info] 1_COSetPathNotSupported = 1; Default= 0x0002; $ Default IO Typ mask: (Stobed) PollInfo= 0x000F, $ to combine (Poll, Strobe, COS, Cylic) 1, $ Default Prod connection: - Input1 0; $ Default Cons connection: - (0: None) COSInfo= 0x000F, $ to combine (Poll, Strobe, COS, Cylic) 1, $ Default Prod connection: - Input1 0; $ Default Cons connection: - (0: None) StrobeInfo= 0x000F, $ to combine (Poll, Strobe, COS, Cylic) 1, $ Default Prod connection: - Input1 0; $ Default Cons connection: - (0: None) CyclicInfo= 0x000F, $ to combine (Poll, Strobe, COS, Cylic) 1, $ Default Prod connection: - Input1 0; $ Default Cons connection: - (0: None) PollInfoExa= 0x000F, $ to combine (Poll, Strobe, COS, Cylic) 1, $ Default Prod connection: - Input1 0; $ Default Cons connection: - (0: None) COSInfoExa= 0x000F, $ to combine (Poll, Strobe, COS, Cyclic) 2, $ Default Prod connection: - InputExa2 0; $ Default Cons connection: - (0: None) StrobeInfoExa= 0x000F, $ to combine (Poll, Strobe, COS, Cyclic) 3, $ Default Prod connection: - InputExa3 0; $ Default Cons connection: - (0: None) CyclicInfoExa= 0x000F, $ to combine (Poll, Strobe, COS, Cyclic) 2, $ Default Prod connection: - InputExa4 0; $ Default Cons connection: - (0: None) $ ----- INPUT Connections: == Producing Connection Entries ----- Input1= 4, $ data size in bytes 0, $ num of significant bits (0: all) 0x000F, $ IO Typ mask "Position Value", $ name for data (Instance) 6, $ link path size "20 04 24 01 30 03", $ link path (Ass | Instance | attrib) "A DINT with 26bits of 'POSITION VALUE' (4 Bytes)"; Input2= 5, $ data size in bytes 0, $ num of significant bits (0: all) 0x000F, $ IO Typ mask "Position Value and Flags", $ name for data (Instance) 6, $ link path size "20 04 24 02 30 03", $ link path (Ass | Instance | attrib) "A DINT with 26bits of 'POSITION VALUE' (4 Bytes) and " "flags (1 Byte) 'WARNING FLAG' (Bit 1) and 'ALARM FLAG' (Bit 0)"; Input3= 8, $ data size in bytes 0, $ num of significant bits (0: all) 0x0003, $ IO Typ mask (not COS or cyclic ) "Position Value and Velocity", $ name for data (Instance) 6, $ link path size "20 04 24 03 30 03", $ link path (Ass | Instance | attrib) "A DINT with 26bits of 'POSITION VALUE' (4 Bytes) and " "a DINT with 'VELOCITY VALUE'(4 Bytes)"; Input4= 5, $ data size in bytes 0, $ num of significant bits (0: all) 0x000F, $ IO Typ mask "Position Value and Cam State", $ name for data (Instance) 6, $ link path size "20 04 24 04 30 03", $ link path (Ass | Instance | attrib) "A DINT with 26bits of 'POSITION VALUE' (4 Bytes) and " "8 bits of the 'CAM STATE REGISTER' (1 Byte)"; InputExa1= $ Poll , $ data size in bytes, determined based on Assem size 0, $ num of significant bits, determined based on Assem definition 0x000F, $ IO Type mask "POLL Variant", $ name, determined based on Assem name , $ link path size, not required VariantExa1, $ link path, obtained from Assem " "; $ help string InputExa2= $ Cos , $ data size in bytes, determined based on Assem size 0, $ num of significant bits, determined based on Assem definition 0x000F, $ IO Type mask "COS Variant", $ name, determined based on Assem name , $ link path size, not required VariantExa2, $ link path, obtained from Assem " "; $ help string InputExa3= $ Strobe , $ data size in bytes, determined based on Assem size 0, $ num of significant bits, determined based on Assem definition 0x000F, $ IO Type mask "Strobed Variant", $ name, determined based on Assem name , $ link path size, not required VariantExa3, $ link path, obtained from Assem " "; $ help string [ParamClass] MaxInst = 66; Descriptor = 0x00; $ only 3 bytes supported NV CfgAssembly = 0; 1_CfgAssembly = 150; $ Null configuration Assy $ ================= Parameters Section ========================= [Params] Param1 = $ Code Sequence. 0, $ must zero definition 6, "20 2F 24 01 30 03", $ link size and path 0x0002, $ descriptor ( Enum ) 0xC1, 1, $ Type: Boolean, size: 1 byte "Code Sequence", $ parameter name "", $ units "Defines the increasing 'POSITION VALUE' as clockwise shaft rotation or \n" "counter clockwise as seen when facing the shaft (CW, CCW).", 0, 1, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param2 = $ Scaling Control 0, 6, "20 2F 24 01 30 05", 0x0002, $ descriptor ( Enum ) 0xC1, 1, $ Type: Boolean, size: 1 byte "Scaling", "", "Enabling 'SCALING' changes the 'POSITION VALUE' I/O data resolution to \n" "'RESOLUTION PER REVOLUTION' and 'TOTAL MEASURING RANGE'.", 0, 1, 1, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param3= $ Resolution per Revolution 0, 6, "20 2F 24 01 30 07", 0x0000, $ descriptor ( Writeable Data ) 0xC8, 4, $ Type: UDINT, size: 4 byte "Resolution Per Revolution", "Steps", $ units "If 'SCALING' is enabled the 'POSITION VALUE' is scaled to this number of \n" "distinguishable steps for one revolution. The maximum value is 'SINGLE \n" "TURN RESOLUTION'.", 1, 8192, 8192, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param4= $ Total measuring range 0, 6, "20 2F 24 01 30 08", 0x0000, $ descriptor ( Writeable Data ) 0xC8, 4, $ Type: UDINT, size: 4 byte "Total Measuring Range", "Steps", $ units "The number of steps over the total measuring range. 'POSITION VALUE' will \n" "roll over to zero when it hits this number. This number is automatically \n" "adjusted to the nearest 2^0 - 2^13 multiple of 'RESOLUTION PER \n" "REVOLUTION'. \n" "Example: if the user enters a value of 3600 for 'RESOLUTION PER \n" "REVOLUTION', then the possible 'TOTAL MEASURING RANGE' values will be 3600, \n" "7200, 14400, 28800 and so on up to 29491200. For an entered value of 3599, \n" "the possible values are the same: 3600, 7200, 14400, 28800 and so on up \n" "to 29491200. ", 1, 0x4000000, 0x4000000, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param5= $ Preset Value 0, 6, "20 2F 24 01 30 0A", 0x0000, $ descriptor ( Writeable Data ) 0xC8, 4, $ Type: UDINT, size: 4 byte "Preset Value", "Steps", $ units "This value is used to determine a total offset value, which is then \n" "applied to the 'POSITION VALUE'. Offset allows adaptation of the \n" "encoder zero point to the mechanical zero point of the system.", 0, 0x3FFFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param6= $ Position Value 0, 6, "20 2F 24 01 30 0C", 0x0030, $ descriptor ( mon, ROnly ) 0xC4, 4, $ Type: DINT, size: 4 byte "Position Value", "Steps", $ units "Gives the current position value. This value is effected by 'PRESET \n" "VALUE', 'RESOLUTION PER REVOLUTION', and 'SCALING'.", 0, 0x3FFFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param7= $ Operating Status 0, 6, "20 2F 24 01 30 50", $(#80) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xD1, 1, $ Type: BYTE, size: 1 byte "Operating Status", "", "The 'Direction: CCW' and 'Scaling: On' indicators show enabled modes for \n" "'CODE SEQUENCE' and 'SCALING'.", 0, 0x07, 0x04, $ min, max (0..7), default 1,1,1,0, 0,0,0,0, 0; Param8= $Single Turn Resolution 0, 6, "20 2F 24 01 30 51", $ (#81) 0x0030, $ descriptor ( mon, Read Only ) 0xC8, 4, $ Type: UDINT, size: 4 byte "Single Turn Resolution", "Steps", $ units "This is the maximum distinguishable number of steps per revolution \n" "possible with this encoder and the highest possible value for \n" "'RESOLUTION PER REVOLUTION'. This value when multiplied by the \n" "'NUMBER OF REVOLUTIONS' gives the maximum possible \n" "'TOTAL MEASURING RANGE' of 67108864 steps.", 0, 0x2000, 0x2000, $ min, max (0..8192), default 1,1,1,0, 0,0,0,0, 0; Param9= $ Number of distinguishable revolutions 0, 6, "20 2F 24 01 30 52", $ (#82) 0x0030, $ descriptor ( mon, Read Only ) 0xC7, 2, $ Type: UINT, size: 2 byte "Number of Revolutions", "Revs", $ units: "This is the maximum distinguishable number of revolutions possible \n" "with this encoder. This value when multiplied by the 'SINGLE TURN \n" "RESOLUTION' gives the maximum possible 'TOTAL MEASURING RANGE' of \n" "67108864 steps.", 0, 0x2000, 0x2000, $ min, max (0..8192), default 1,1,1,0, 0,0,0,0, 0; Param10= $ Alarm Flag 0, 6, "20 2F 24 01 30 55", $ (#85) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xC1, 1, $ Type: BOOLEAN, size: 1 byte "Alarm Flag", "", "This flag indicates any device failure that requires user intervention. \n" "The 'ALARMS' indicate the specific failure. This value will be reported \n" "if 'INPUT ASSY.' is set to 'Position + Flags' as bit 0 of the 5th byte.", 0, 1, 0, $ min, max (0, 1), default 1,1,1,0, 0,0,0,0, 0; Param11= $ Alarms Values 0, 6, "20 2F 24 01 30 53", $ (#83) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xD2, 2, $ Type: WORD, size: 2 byte "Alarms", "", "Conditions leading to an alarm state. Any alarm will set the 'ALARM FLAG'. \n" "If these conditions recur, contact the factory at 1.800.666.0001 \n" "for further assistance.\n", 0, 0xFFFF, 0, $ min, max (0..FFFF), default 1,1,1,0, 0,0,0,0, 0; Param12= $ Warning Flag 0, 6, "20 2F 24 01 30 58", $ (#88) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xC1, 1, $ Type: BOOLEAN, size: 1 byte "Warning Flag", "", "Indicate if any of the 'WARNINGS' are active. This value will be reported \n" "if the 'INPUT ASSY. is set to 'Position + Flags' as bit 1 of the 5th byte.", 0, 1, 0, $ min, max (0, 1), default 0 1,1,1,0, 0,0,0,0, 0; Param13= $ Warnings Values 0, 6, "20 2F 24 01 30 56", $ (#86) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xD2, 2, $ Type: WORD, size: 2 byte "Warnings", "", "Any warning will set the 'WARNING FLAG'. \n" "The 'Frequency Exceeded' flag is caused by rotation faster then 6000 RPM. \n" "The Velocity min/max flag is caused by a 'VELOCITY VALUE' under or \n" "over the velocity limits. \n" "The Acceleration min/max flag is a 'ACCELERATION VALUE' under or \n" "over the acceleration limits. \n" "The 'Cam Limits Out of Order' flag is cause by a set of cam limits \n" "where the hysteresis value is larger then the cam lower limit, or the \n" "higher or lower limit that is greater then the 'TOTAL MEASURING RANGE'.", 0, 0xFFFF, 0, $ min, max (0..FFFF), default 1,1,1,0, 0,0,0,0, 0; Param14= $ Hysteresis Value for position change in COS 0, 6, "20 2F 24 01 30 0B", 0x0020, $ descriptor ( mon, Get/Set ) 0xC4, 4, $ Type: DINT, size: 4 byte "Delta for COS", "Steps", $ units "A COS I/O message will be generated when the 'POSITION VALUE' changes \n" "by this value. Inputting a value greater than the 'TOTAL MEASURING RANGE' \n" "will cause this value to default to 5. Setting this value to 0 disables \n" "COS messaging for 'POSITION VALUE' changes. \n" "To lessen network traffic for high speed (4000 RPM+) and/or high \n" "resolution (1024 Steps/Rev+) applications either: \n" "increase the hysteresis to over 10% of the 'RESOLUTION PER REVOLUTION' \n" "value, or increase the 'Inhibit Time' \n " "('Scanlist', 'Edit I/O Parameters...', 'Advanced...') to 10 msec. \n", 0, 0x3FFFFFF, 5, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param15= $ Velocity Format. 0, 6, "20 2F 24 01 30 14", $ (#20) 0x0002, $ descriptor ( Get/Set, Enum ) 0xC6, 1, $ Type: USINT, size: 1 byte "Velocity Format", "", "This sets the units format for velocity and acceleration values. The max \n" "and min limits for velocity and acceleration are affected as well. \n" "'Steps/Sec' shows how many of the user-defined steps the encoder shaft \n" "rotates through per second. \n" "'RPM' shows how many complete revolutions the shaft makes per minute. \n" "'RPS' shows how many complete revolutions the shaft makes per second." , 0, 2, 1, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param16= $ Value for Minimum velocity 0, 6, "20 2F 24 01 30 17", $ (#23) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Velocity Minimum Limit", " * [Vel. Format]", $ units "Value of minimum velocity limit with the units type of 'VELOCITY FORMAT'. \n" "A 'VELOCITY VALUE' under this limit will cause a 'Min. Velocity Underrun' \n" "warning and set the corresponding warning flag.", 0, 819200, 0, $ min, max: = (1 *100 RpSec. * 8192 steps), default: = [RpMin: - "0" ] 1,1,1,0, 0,0,0,0, 0; Param17= $ Value for Maximum velocity 0, 6, "20 2F 24 01 30 18", $ (#24) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Velocity Maximum Limit", " * [Vel. Format]", $ units "Value of maximum velocity limit with the units type of 'VELOCITY FORMAT'. \n" "A 'VELOCITY VALUE' over this limit will cause a 'Max. Velocity Exceeded' \n" "warning and set the corresponding warning flag.", 0, 819200, 6000, $ min, max: = (1 *100 RpSec. * 8192 steps), [RpMin: - 1 *100 RpSec. *60 ] 1,1,1,0, 0,0,0,0, 0; Param18= $ Value for Current velocity speed 0, 6, "20 2F 24 01 30 16", $ (#22) 0x0030, $ descriptor ( mon, Read Only, ) 0xC4, 4, $ Type: DINT, size: 4 byte "Velocity Value", " * [Vel. Format]", $ units "This is the value of the current velocity with the units type of \n" "'VELOCITY FORMAT'.", 0, 819200, 0, $ min, max: = (1 *100 RpSec. * 8192 steps) 1,1,1,0, 0,0,0,0, 0; Param19= $ Value for Minimum acceleration 0, 6, "20 2F 24 01 30 20", $ (#32) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Acceleration Minimum Limit", " * [Vel. Format]", $ units "Value of minimum acceleration limit with the units type of 'VELOCITY \n" "FORMAT'. An 'ACCELERATION VALUE' under this limit will cause a \n" "a 'Min. Accel. Underrun' warning and set the corresponding warning flag. ", 0, 8192000, 0, $ min, max: = (10 *100 RpSec. * 8192 steps) default: = [RpMin/sec: - "0" ] 1,1,1,0, 0,0,0,0, 0; Param20= $ Value for Maximum acceleration 0, 6, "20 2F 24 01 30 21", $ (#33) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Acceleration Maximum Limit", " * [Vel. Format]", $ units "Value of maximum acceleration limit with the units type of \n" "'VELOCITY FORMAT'. An 'ACCELERATION VALUE' over this limit will cause \n" "a 'Max. Accel. Exceeded' warning and set the corresponding warning flag.", 0, 8192000, 60000, $ min, max: = (10 *100 RpSec. * 8192 steps) default: = [RpMin/sec: - 10 *100 RpSec. *60 ] 1,1,1,0, 0,0,0,0, 0; Param21= $ Value for Current acceleration speed 0, 6, "20 2F 24 01 30 1F", $ (#31) 0x0030, $ descriptor ( mon, Read Only, ) 0xC4, 4, $ Type: DINT, size: 4 byte "Acceleration Value", " * [Vel. Format]", $ units "Value of the current acceleration with the units type of 'VELOCITY FORMAT'.", 0, 8192000, 0, $ min, max: = (10 *100 RpSec. * 8192 steps) default: = [RpMin: - 1 *100 RpSec. *60 ] 1,1,1,0, 0,0,0,0, 0; $ --------------------------- Cam Section ------------------------------ Param22= $ Cam state register 0, 6, "20 2F 24 01 30 28", $ (#40) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xD1, 1, $ Type: BYTE, size: 1 byte "Cam State Register", "", "State of all 8 cams", 0, 0xFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param23= $ Cam polarity register 0, 6, "20 2F 24 01 30 29", $ (#41) 0x0002, $ descriptor ( , Get/Set, Enum ) 0xD1, 1, $ Type: BYTE, size: 1 byte "Cam Polarity Register", "", "Polarity for the state of the 8 independent cams (1-8): \n" "1 cam state will be active outside of the cam limits\n" "0 cam state will be active inside of the cam limits", 0, 0xFF, 0, $ min, max, default: [0: norm, 1: invert] 1,1,1,0, 0,0,0,0, 0; Param24= $ Cam Enable register 0, 6, "20 2F 24 01 30 2A", $ (#42) 0x0002, $ descriptor ( , Get/Set, Enum ) 0xD1, 1, $ Type: BYTE, size: 1 byte "Cam Enable Register", "", "Enable / Disable 8 independent cams (1-8): \n" "1 cam state will be effected by position \n" "0 cam state will always be 0", 0, 0xFF, 0x00, $ min, max, default: [0: disable, 1: enable] 1,1,1,0, 0,0,0,0, 0; $ ------------------ Cam-1: Switch point: Lower Limit -------------------- Param25= $ Cam (1):- SW Lower Limit 0, 6, "20 2F 24 01 30 2B", $ (#43) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (1) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param26= $ Cam (2):- SW Lower Limit 0, 6, "20 2F 24 01 30 2E", $ (#46) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (2) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param27= $ Cam (3):- SW Lower Limit 0, 6, "20 2F 24 01 30 31", $ (#49) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (3) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param28= $ Cam (4):- SW Lower Limit 0, 6, "20 2F 24 01 30 34", $ (#52) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (4) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param29= $ Cam (5):- SW Lower Limit 0, 6, "20 2F 24 01 30 37", $ (#55) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (5) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param30= $ Cam (6):- SW Lower Limit 0, 6, "20 2F 24 01 30 3A", $ (#58) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (6) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param31= $ Cam (7):- SW Lower Limit 0, 6, "20 2F 24 01 30 3D", $ (#61) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (7) Low Limit", "Steps", $ units: "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; Param32= $ Cam (8):- SW Lower Limit 0, 6, "20 2F 24 01 30 40", $ (#64) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (8) Low Limit", "Steps", $ units "This is the switch point for this cam's lower limit. The value must be \n" "less than the 'CAM HYSTERESIS' for this cam as well as less than the \n" "'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x100, $ min, max, default: [100]h 1,1,1,0, 0,0,0,0, 0; $ ------------------ Cam-1: Switch point: Higher Limit ------------------- Param33= $ Cam (1):- SW Higher Limit 0, 6, "20 2F 24 01 30 2C", $ (#44) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (1) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param34= $ Cam (2):- SW Higher Limit 0, 6, "20 2F 24 01 30 2F", $ (#47) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (2) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param35= $ Cam (3):- SW Higher Limit 0, 6, "20 2F 24 01 30 32", $(#50) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (3) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param36= $ Cam (4):- SW Higher Limit 0, 6, "20 2F 24 01 30 35", $ (#53) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (4) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param37= $ Cam (5):- SW Higher Limit 0, 6, "20 2F 24 01 30 38", $ (#56) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (5) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param38= $ Cam (6):- SW Higher Limit 0, 6, "20 2F 24 01 30 3B", $ (#59) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (6) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param39= $ Cam (7):- SW Higher Limit 0, 6, "20 2F 24 01 30 3E", $ (#62) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (7) High Limit", "Steps", $ units "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; Param40= $ Cam (8):- SW Higher Limit 0, 6, "20 2F 24 01 30 41", $ (#65) 0x0000, $ descriptor ( Writeable Data ) 0xC4, 4, $ Type: DINT, size: 4 byte "Cam (8) High Limit", "Steps", $ units: "This is the switch point for this cam's upper limit. The value must be less \n" "than the 'TOTAL MEASURING RANGE'.", 0, 0x03FFFFFF, 0x03FFFC00, $ min, max, default: [max -400]h 1,1,1,0, 0,0,0,0, 0; $ ------------------ Cam-1: Hysteresis of Switch points ------------------- Param41= $Cam (1):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 2D", $ (#45) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (1) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (1) HIGH LIMIT' and subtracted from the \n" "'CAM (1) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (1) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param42= $ Cam (2):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 30", $(#48) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (2) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (2) HIGH LIMIT' and subtracted from the \n" "'CAM (2) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (2) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param43= $ Cam (3):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 33", $ (#51) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (3) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (3) HIGH LIMIT' and subtracted from the \n" "'CAM (3) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (3) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param44= $ Cam (4):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 36", $ (#54) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (4) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (4) HIGH LIMIT' and subtracted from the \n" "'CAM (4) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (4) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param45= $ Cam (5):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 39", $ (#57) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (5) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (5) HIGH LIMIT' and subtracted from the \n" "'CAM (5) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (5) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param46= $ Cam (6):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 3C", $ (#60) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (6) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (6) HIGH LIMIT' and subtracted from the \n" "'CAM (6) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (6) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param47= $ Cam (7):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 3F", $ (#63) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (7) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (7) HIGH LIMIT' and subtracted from the \n" "'CAM (7) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (7) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; Param48= $ Cam (8):- Hysteresis of Switch point 0, 6, "20 2F 24 01 30 42", $ (#66) 0x0000, $ descriptor ( Writeable Data ) 0xC7, 2, $ Type: UINT, size: 2 byte "Cam (8) Hysteresis", "Steps", $ units "This value will be added to the 'CAM (8) HIGH LIMIT' and subtracted from the \n" "'CAM (8) LOW LIMIT' when calculating the cam state. This value must be \n" "less than 'CAM (8) LOW LIMIT'. ", 0, 0xFFFF, 0x20, $ min, max, default: [20]h 1,1,1,0, 0,0,0,0, 0; $ DIAGNOSTIC - SECTION: Param49= $ DIP-Switch (6), (3), Preset_Key 0, 6, "20 2F 24 01 30 6A", $ (#106) 0x0032, $ descriptor ( mon, Read Only, Enum ) 0xD2, 2, $ Type: WORD, size: 2 byte "Device Switches", "", "These Switches are located under the plug on the back of the encoder: \n" "High-Byte indicates Switch-1 (6) -- MAC-ID \n" "Low -Byte indicates Switch-3 (3) -- Baudrate", 0, 0xFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param50= $ number of Start Up the device 0, 6, "20 2F 24 01 30 6B", $ (#107) 0x0030, $ descriptor ( mon, Read Only, ... ) 0xC7, 2, $ Type: UINT, size: 2 byte "Number of Start-UPs", "", "The total number of times the encoder has been power cycled.", 0, 0xFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param51= $ Max. velocity since powerup 0, 6, "20 2F 24 01 30 6C", $ (#108) 0x0030, $ descriptor ( mon, Read Only, ... ) 0xC7, 2, $ Type: UINT, size: 2 byte "Velocity Maximum Value", " [RPM]", $ units "The highest 'VELOCITY VALUE' the encoder has sampled since power up.", 0, 0xFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param52= $ Max. accel. since powerup 0, 6, "20 2F 24 01 30 6D", $ (#109) 0x0030, $ descriptor ( mon, Read Only, ... ) 0xC7, 2, $ Type: UINT, size: 2 byte "Acceleration Maximum Value", " [RPS]", $ units "The highest 'ACCELERATION VALUE' the encoder has sampled since \n" "power up.", 0, 0xFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param53= $ Total Time Encoders is turning 0, 6, "20 2F 24 01 30 6E", $ (#110) 0x0030, $ descriptor ( mon, Read Only, ... ) 0xC8, 4, $ Type: UDINT, size: 4 byte "Total Motion Time ", " Sec", $ units "The total time in seconds the encoder has spent moving since power up.", 0, 0x7FFFFFFF, 0, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Param54= $ operating Time (Profile) 0, 6, "20 2F 24 01 30 5A", $ (#90) 0x0034, $ descriptor ( mon, Read Only, ... ) 0xC8, 4, $ Type: UDINT, size: 4 byte "Operating Time ", "Hours", $ units "The number of hours the encoder has been operating. This value is \n" "updated every 0.1 hours and resets each powerup.", 0, 0xFFFFFFFF, 0, $ min, max, default 1, 10, 1, 0, $ scaling (mult, div, base, offset) 0, 0, 0, 0, 1 ; $ .1 decimal $ INPUT_Assembly - SECTION: -- [111, 112, 113] Param55= $ Assembly Number: -- Polling mode 0, 6, "20 2F 24 01 30 6F", $(#111) 0x0082, $ descriptor ( NO mon, R/W, enum...non-consecutive ) 0xC6, 1, $ Type: USINT, size: 1 byte "Input Assy. (POLL)", "", "The type of input data that is sent for the Polling I/O connections. \n" "Position = 4 bytes, \n" "Position + Cam State = 5 bytes, \n" "Position + Flags = 5 bytes, \n" "Position + Velocity = 8 bytes. \n" "Update time: Velocity 50 mS, other modes 0.3 mS.", 1, 4, 1, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Enum55= $ "Input Assembly (Polled)" 1, "Position Value", 2, "Position Value + Flag", 3, "Position Value + Velocity", 4, "Position Value + Cam State"; Param56= $ Assembly Number: -- COS / Cyclic mode 0, 6, "20 2F 24 01 30 70", $ (#112) 0x0082, $ descriptor ( NO mon, R/W, enum...non-consecutive ) 0xC6, 1, $ Type: USINT, size: 1 byte "Input Assy. (COS)", "", "The type of input data that is sent for the Change of State I/O connections. \n" "Position = 4 bytes, \n" "Position + Cam State = 5 bytes, \n" "Position + Flags = 5 bytes \n" "Update time: 0.3 mS, Velocity not supported.", 1, 4, 1, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Enum56= $ "Input Assembly (COS )" 1,"Position Value", 2, "Position Value + Flag", 4, "Position Value + Cam State"; Param57= $ Assembly Number: -- BIT Strobed mode 0, 6, "20 2F 24 01 30 71", $ (#113) 0x0082, $ descriptor ( NO mon, R/W, enum...non-consecutive ) 0xC6, 1, $ Type: USINT, size: 1 byte "Input Assy. (Strobed)", "", "The type of input data that is sent for the Strobed I/O connections. \n" "Position = 4 bytes, \n" "Position + Cam State = 5 bytes, \n" "Position + Flags = 5 bytes, \n" "Position + Velocity = 8 bytes. \n" "Update time: Velocity 50 mS, other modes 0.3 mS.", 1, 4, 1, $ min, max, default 1,1,1,0, 0,0,0,0, 0; Enum57= $ "Input Assembly (Strobe )" 1, "Position Value", 2, "Position Value + Flag", 3, "Position Value + Velocity", 4, "Position Value + Cam State"; Param58 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 1", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param59 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 2", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param60 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 3", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param61 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 4", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param62 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 5", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param63 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 6", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param64 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 7", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param65 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Cam State 8", "", "Outerspace", 0,1,0, 1,1,1,0, 0,0,0,0, 0; Param66 = $ # bits, Pad bit for Assy 0, ,, $ Path size and Path to value Attribute 0x0A10, $ Read-only Data non-displayed not addressable 0xC1, 1, $ Bool "Reserved", "", "Ghost bit", 0,1,0, 1,1,1,0, 0,0,0,0, 0; $ ================= Parameter Enumerating Section ========================= [EnumPar] Param1= $ Code Sequence "CW", "CCW"; Param2= $ Scaling Enable "No", "Yes"; Param7= $ "operating state" "Direction: CCW", "Reserved", "Scaling: On", "Reserved", "Reserved", "Reserved", "Reserved", "Reserved"; Param10= $ "alarm flag" "No", "Yes"; Param11= $ "alarms" "Position Error", "Not Used", "Not Used", "Not Used", "Not Used", "Not Used", "Not Used", "Not Used", $ bit 4...7 "Not Used", "Not Used", "Not Used", "Not Used", $ bit 8...11 "EEPROM Error", $ bit 12 "CRC Error", $ bit 13 "Not Used", $ bit 14, 15 "Not Used"; Param12= $ "warning flag" "No", "Yes"; Param13= $ "warnings" "Frequency Exceeded", "Reserved", "Watchdog Generate Reset", "Reserved", "Reserved", "Reserved", "Min. Velocity Underrun", "Max. Velocity Exceeded", "Min. Accel. Underrun", "Max. Accel. Exceeded", "Reserved", "Reserved", "Reserved", "Cam Limits Out of Order", "Reserved", "Not Used"; Param15= $ "Format velocity" "Steps / Sec", "RPM", "RPS" ; Param22= $ "Cam-1 State reg" "Cam State (1)", "Cam State (2)", "Cam State (3)", "Cam State (4)", "Cam State (5)", "Cam State (6)", "Cam State (7)", "Cam State (8)" ; Param23= $ "Cam-1 polarity reg" "Invert Cam State (1)", "Invert Cam State (2)", "Invert Cam State (3)", "Invert Cam State (4)", "Invert Cam State (5)", "Invert Cam State (6)", "Invert Cam State (7)", "Invert Cam State (8)" ; Param24= $ "Cam-1 Enable reg" "Enable Cam (1)", "Enable Cam (2)", "Enable Cam (3)", "Enable Cam (4)", "Enable Cam (5)", "Enable Cam (6)", "Enable Cam (7)", "Enable Cam (8)" ; Param49= $ "device SW" "BaudRate: DIP-1", $ bit 0...3 "BaudRate: DIP-2", "BaudRate: DIP-3", "Reserved", "Reserved", $ bit 4...7 "Reserved", "Reserved", "Preset Key", "MacID: DIP-1", $ bit 8...15 "MacID: DIP-2", "MacID: DIP-3", "MacID: DIP-4", "MacID: DIP-5", "MacID: DIP-6", "Reserved", "Reserved" ; $ =============================================================================== $ =============================================================================== $ ================= Parameter Groups Section ========================= [Groups] Group1= "Encoder Configuration", $ Name 8, $ number of members 1,2,3,4,5,8,9,14 ; Group2= "Profile Limits", $ Name 9, $ number of members 15,16,17,18,51,19,20,21, 52 ; Group3= "Monitoring", $ Name 9, $ number of members 6,7,10,11,12,13,18,21, 22 ; Group4= "Cams Configuration", $ Name 28, $ number of members 6,22,23,24, 25,26,27,28,29,30,31,32, 33,34,35,36,37,38,39,40, 41,42,43,44,45,46,47,48 ; Group5= "DNet Configuration", $ Name: 5, $ number of members 14,49,55,56,57 ; Group6= "Encoder Diagnostic", $ Name: 10, $ number of members 10,11,12,13,49,50,51,52, 53,54 ; [Assembly] VariantExa1 = $ variant used for POLL assembly selection "POLL Variant",,,,, Param55, 0x01, Assem1, 0x02, Assem2, 0x03, Assem3, 0x04, Assem4; VariantExa2 = $ variant used for COS assembly selection "COS Variant",,,,, Param56, 0x01, Assem1, 0x02, Assem2, 0x04, Assem4; VariantExa3 = $ variant used for BIT strobed assembly selection "Strobed Variant",,,,, Param57, 0x01, Assem1, 0x02, Assem2, 0x03, Assem3, 0x04, Assem4; Assem1 = "Position Value", "20 04 24 01 30 03", 4, $ total length in bytes 0, $ Discriptor , , 26, Param6, $ Position value 6, ; $ Reserved Assem2 = "Position Value + Flag", "20 04 24 02 30 03", 5, $ total length in bytes 0, $ Discriptor , , 32, Param6, $ Position value 1, Param10, $ Flag Alarm 1, Param12, $ Flag Warning 6, ; $ Reserved Assem3 = "Position Value + Velocity", "20 04 24 03 30 03", 8, 0, $ Discriptor , , 32, Param6, $ Position value 32, Param18; $ Velocity Assem4 = "Position Value + Cam State", "20 04 24 04 30 03", $ Path is ins 4 5, $ total length in bytes 0, $ Discriptor , , 32, Param6, $ Position value 1, Param58, $ Cam State 1 1, Param59, $ Cam State 2 1, Param60, $ Cam State 3 1, Param61, $ Cam State 4 1, Param62, $ Cam State 5 1, Param63, $ Cam State 6 1, Param64, $ Cam State 7 1, Param65; $ Cam State 8 Assem150 = "Encoder Configuration", , $ Path is ins 3, $ total length in bytes (115 total) 0x0010, $ not directly addressable , , $ 1, Param1, $ Code Sequence $ 1, Param2, $ Scaling Enable $ 1, 0, $ Pad $ 1, 0, $ Pad $ 1, 0, $ Pad $ 1, 0, $ Pad $ 1, 0, $ Pad $ 1, 0, $ Pad $ 1, 0, $ Pad $ 32, Param3, $ Resolution Per Revolution $ 32, Param4, $ Total Measuring Range $ 32, Param14, $ Delta for Cos $ 8, Param15, $ Velocity Format $ 32, Param16, $ Velocity Minimum Limit $ 32, Param17, $ Velocity Maxmim Limit $ 32, Param19, $ Acceleration Minimum Limit $ 32, Param20, $ Acceleration Maximum Limit $ 8, Param23, $ CAM Polarity Register $ 8, Param24, $ CAM Enable Register $ 32, Param25, $ CAM Low Limit (1) $ 32, Param26, $ CAM Low Limit (2) $ 32, Param27, $ CAM Low Limit (3) $ 32, Param28, $ CAM Low Limit (4) $ 32, Param29, $ CAM Low Limit (5) $ 32, Param30, $ CAM Low Limit (6) $ 32, Param31, $ CAM Low Limit (7) $ 32, Param32, $ CAM Low Limit (8) $ 32, Param33, $ CAM High Limit (1) $ 32, Param34, $ CAM High Limit (2) $ 32, Param35, $ CAM High Limit (3) $ 32, Param36, $ CAM High Limit (4) $ 32, Param37, $ CAM High Limit (5) $ 32, Param38, $ CAM High Limit (6) $ 32, Param39, $ CAM High Limit (7) $ 32, Param40, $ CAM High Limit (8) $ 16, Param41, $ CAM Hysteresis (1) $ 16, Param42, $ CAM Hysteresis (2) $ 16, Param43, $ CAM Hysteresis (3) $ 16, Param44, $ CAM Hysteresis (4) $ 16, Param45, $ CAM Hysteresis (5) $ 16, Param46, $ CAM Hysteresis (6) $ 16, Param47, $ CAM Hysteresis (7) $ 16, Param48, $ CAM Hysteresis (8) 8, Param55, $ Input Assy. (Poll) 8, Param56, $ Input Assy. (COS) 8, Param57; $ Input Assy. (Strobe)