Setup and Reference Guide - Kollmorgen

HSAVE
Copies MPHASE, PFBOFF and ZPOS into the EnDat encoder memory. Care must be taken when overwriting
the MPHASE variable as runaway conditions are possible with incorrect values. HSAVE is applicable only
when MENCTYPE=9.
Firmware Versions: 3.6.0 and later Command Syntax: HSAVE
Opmodes: All Drive Status: EN/DIS
HWPOS
Displays the position feedback directly from the feedback hardware counter. For resolver-based systems,
HWPOS will range from 0 to 65,535 per electrical revolution of the resolver (the number of electrical resolver
revolutions per each mechanical revolution is calculated by dividing the number of resolver poles by 2 - see
MRESPOLES). The resolution of HWPOS is based on RDRES:
RDRES = 12, resolution of HWPOS = 16
RDRES = 14, resolution of HWPOS = 4
RDRES = 16, resolution of HWPOS = 1
For encoder-based systems, HWPOS will return the encoder counter content, which is based on quadrature
pulse input and will range from 0 to 65535, with a resolution of 32.
Firmware Versions: 2.0.0 and later Type: variable (R) Units: counts
Range: 0 to 65,535 Default: N/A EEPROM: No
Opmodes: All Drive Status: EN/DIS
I
Displays the motor current. The AVGTIME variable determines the averaging of this variable, except when
recorded for graphical display by MOTIONLINK, in which case it is not averaged.
Firmware Versions: All Type: variable (R) Units: % of DIPEAK * 0.1
Range: 0 to 2000 Default: N/A EEPROM: No
Opmodes: All Drive Status: EN/DIS
IA
Displays the motor’s A phase current. AVGTIME does not affect this variable.
Firmware Versions: All Type: variable (R) Units: % of DIPEAK * 0.1
Range: -1000 to 1000 Default: N/A EEPROM: No
Opmodes: All Drive Status: EN/DIS
IC
Displays the motor’s C phase current. AVGTIME does not affect this variable.
Firmware Versions: All Type: variable (R) Units: % of DIPEAK * 0.1
Range: -1000 to 1000 Default: N/A EEPROM: No
Opmodes: All Drive Status: EN/DIS
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