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

Publication 2098-RM001C-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
1
39
14 Positive Soft Position Limit
1
40
15 Negative Soft Position Limit
1
41
16 Positive Decel Distance
1
42
17 Negative Decel Distance
1
43
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 Polarity 49
24 Position Compare 1 50
25 Position Compare 2 Polarity 51
26 Position Compare 2 52
27 Velocity Loop P_Gain 53
28 Velocity Loop I_Gain 54
1 These commands are not available to non-indexing drives. If the command is invoked, a non-indexing drive
returns Reserved as the parameter name.