CANopen Programmer's Manual - Maccon.de

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B: Trace Tool CANopen Programmer’s Manual B.2: Trace Tool Objects Contents of this Section This section describes objects related to the Trace Tool. They include: Trace Channels Index 0x2500 ................................................................................................................ 239 Trace Channels Index 0x2500, Sub-Index 1-6........................................................................ 239 Trace Status Index 0x2501 .................................................................................................................... 239 Trace Reference Period Index 0x2502 ................................................................................................... 239 Trace Period Index 0x2505 .................................................................................................................... 239 Trace Sample Count Index 0x2503 ......................................................................................................... 240 Trace Max Samples Index 0x2504 .......................................................................................................... 240 Trace Trigger Configuration Index 0x2506 .............................................................................................. 240 Trace Delay Index 0x2507 .................................................................................................................... 241 Trace Start/Stop Index 0x2508 ................................................................................................................ 241 Trace Data Index 0x2509 ........................................................................................................................ 241 238 Copley Controls
CANopen Programmer’s Manual B: Trace Tool TRACE CHANNELS INDEX 0X2500 Type Access Units Range Map PDO Memory Array RW - See description, below. NO - Description This object uses 6 sub-indices configure up to 6 trace channels. TRACE CHANNELS INDEX 0X2500, SUB-INDEX 1-6 Type Access Units Range Map PDO Memory Unsigned 16 RW - - NO R Sub-object x configures trace channel x. Each channel can be configured to monitor one of the trace variables described below by programming the sub-object with the code. Code Trace Variable 0 No data. Setting a channel to this value disables it. Disabling unused channels saves space in the trace buffer. 3 Current reading winding A (0.01 amps) 4 Current reading winding B (0.01 amps) 5 Reference A/D reading (millivolts) 6 High voltage reference (0.1 volts) 7 Commanded torque 8 Limited torque 9 Commanded current (D rotor axis) (0.01 amps) 10 Commanded current (Q rotor axis) (0.01 amps) 11 Actual current (X stator axis) (0.01 amps) 12 Actual current (Y stator axis) (0.01 amps) 13 Actual current (D rotor axis) (0.01 amps) 14 Actual current (Q rotor axis) (0.01 amps) 15 Current Error (D rotor axis) (0.01 amps) 16 Current Error (Q rotor axis) (0.01 amps) 17 Current Integral (D rotor axis) 18 Current Integral (Q rotor axis) 19 Current loop output (D rotor axis) 20 Current loop output (Q rotor axis) 21 Current loop output (X stator axis) 22 Current loop output (Y stator axis) 23 Actual motor velocity (0.1 counts/sec or 0.01 RPM if using back EMF velocity estimate). 24 Commanded motor velocity. 25 Limited motor velocity command. 26 Velocity loop error. 27 Velocity loop integral. 28 Actual load position (counts). 29 Commanded position. 30 Position loop error 31 Motor encoder position (counts) 32 Position loop output velocity 33 Raw input pin readings (no debounce) 34 reserved 35 reserved Continued… Copley Controls 239
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About this Manual CANopen Programme
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CANopen Programmer's Manual - Maccon.de

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