Rockwell Automation 2098-DSD-xxx Ultra3000 Digital Servo Drives with DeviceNet - Manual (Page 84)

Publication 2098-RM001C-EN-P – August 2002
2-68 Programming Reference
109 Set Position Error
Time UINT 2 mSec The minimum time during which the position error
must be greater than the Position Error Limit to
cause a Following Error fault.
Range: 0 to 65535
Default: 100
110-119 Get Reserved USINT 1 Default: 0
120 Get Operating Mode USINT 1 The operating mode that the drive is currently in.
0 = Analog Velocity Input
1 = Analog Current Input
2 = Preset Velocity
3 = Preset Current
4 = Follower - Auxiliary Encoder
5 = Follower - Step / Direction
6 = Follower - Step Up / Step Down
7 = Indexing
8 = Analog Position
9 = Preset Position
10 - 15 = Reserved
16 = Setpoint Velocity
17 = Setpoint Current
18 = Host Index Mode
19 = Autotuning
20 = Step Velocity
21 = Step Position
22 = Encoder Index Alignment
23 = Commutation Diagnostics
24 = Motor Feedback Diagnostics
25 = Motor Marker Diagnostics
26 = Auxiliary Feedback Diagnostics
27 = Auxiliary Marker Diagnostics
28 - 31 = Reserved
32 = Disabled
33 = Fault Decel
34 = Homing
35 = Reserved
36 = Commutation Startup
Parameter Object,
Instances ID = 1- 996
Parameter
Instance Access
Rule Parameter
Name Data
Type Data Size
(Bytes) Units /
Scale Description