CANopen Programmer's Manual - Maccon.de

B: Trace Tool CANopen Programmer’s Manual
…continued:
Code Trace Variable
36 Motor phase angle (1 degree units)
37 Amplifier temperature (degrees C)
38 Amplifier Manufacturer Status Register (index 0x1002, p. 60)
39 Amplifier event latch word
40 Hall sensor state
41 Position Capture Status Register (index 0x2401, p. 187)
42 Index capture register
43 Load encoder velocity (0.1 counts / second).
44 Velocity command from trajectory generator (0.1 counts/sec)
45 Acceleration command from trajectory generator (10 counts/sec2)
46 The analog encoder sine input. Only valid for amplifiers with analog encoder support.
47 The analog encoder cosine input. Only valid for amplifiers with analog encoder support.
48 The value of the digital inputs (after debounce)
49 The destination position input to the trajectory generator.
50 Actual motor velocity as seen by velocity loop. This is an unfiltered version of trace variable.
51 Load encoder position (counts).
52 Gain scheduling key parameter value.
53 Position loop P gain
54 Velocity loop P gain
55 Velocity loop I gain
TRACE STATUS INDEX 0X2501
Type Access Units Range Map PDO Memory
Unsigned 16 R0 - - YES R
Description
Get trace status:
Bits Description
0 Set if trace data is currently being collected.
1 Set if trigger has occurred.
2-15 Reserved for future use.
TRACE REFERENCE PERIOD INDEX 0X2502
Type Access Units Range Map PDO Memory
Unsigned 32 RO nanoseconds - NO R
Description
Get fundamental period. Returns a 32-bit value containing the fundamental trace period in units of
nanoseconds. The fundamental period is the maximum frequency at which the trace system can
sample data. The actual trace period is set in integer multiples of this value using the Trace Period
object (0x2505).
TRACE PERIOD INDEX 0X2505
Type Access Units Range Map PDO Memory
Unsigned 16 RW See description. - NO R
Description
The trace period, in integer multiples of the Trace Reference Period (0x2502).
240 Copley Controls