Rockwell Automation 2098-DSD-xxx Ultra3000 Digital Servo Drives with DeviceNet - Manual (Page 42)

Publication 2098-RM004A-EN-P – August 2002
2-26 Programming Reference
Command Data Table
The following table references the Command Data Pointer and
Parameter Object Instances for each Ultra3000 with DeviceNet
command.
Command
Data
Pointer Name Parameter Object
Instance
0 NULL
1 Reset Faults 22
2 Reset Drive 23
3 Reset Personality 24
4 Reset I Peaks 25
5 Define Home Command 26
6 Host Enable 27
7 Host Control Mode 28
8 Velocity Setpoint 29
9 Current Setpoint 30
10 Setpoint Accel 31
11 Positive I Limit 37
12 Negative I Limit 38
13 Soft Overtravel 39
1
14 Positive Soft Position Limit 40
1
15 Negative Soft Position Limit, or
Acceleration Feedforward Gain - Kaff 41
1
111
2
16 Positive Decel Distance, or
Position Compare 1 Max 42
1
112
2
17 Negative Decel Distance, or
Position Compare 2 Max 43
1
113
2
18 Zero Speed Limit 44
19 Speed Window 45
20 Up to Speed 46
21 Position Window Size 47
22 Position Window Time 48
23 Position Compare 1 Type 49
24 Position Compare 1 Min 50
25 Position Compare 2 Type 51
26 Position Compare 2 Min 52
1 These commands are available only to indexing drives.
2 These commands are available only to non-indexing drives.