CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual B: Trace Tool TRACE SAMPLE COUNT INDEX 0X2503 Type Access Units Range Map PDO Memory Unsigned 16 RO - - YES R Description Returns the number of samples collected so far. TRACE MAX SAMPLES INDEX 0X2504 Type Access Units Range Map PDO Memory Unsigned 16 RO - - NO R Description Get maximum samples. The maximum number of samples that the internal trace memory buffer can hold is calculated and returned as a 16-bit value. Note that the maximum number of samples is dependent on the number and type of active trace variables. For an accurate value, the trace variables should be set first; then the maximum number of samples available may be requested. TRACE TRIGGER CONFIGURATION INDEX 0X2506 Type Access Units Range Map PDO Memory Unsigned 48 RW - - NO R Description Set/get the trace trigger configuration. Bits Description 0-3 Channel number to trigger on (if applicable). 4-7 Reserved. 8-11 Trigger type (may be interpreted differently for some trigger types): 12-14 Reserved. Type Description 0 No trigger in use. 1 Trigger as soon as the selected channel's input is greater than or equal to the trigger level. 2 Trigger as soon as the selected channel's input is less than or equal to the trigger level. 3 Trigger when the selected channel's input changes from below to above the trigger level. 4 Trigger when the selected channel's input changes from above to below the trigger level. 5 Trigger when any selected bits in the channel value are set. The bits are selected using the trigger level value as a mask. 6 Trigger when any selected bits in the channel value are clear. The bits are selected using the trigger level value as a mask. 7 Trigger any time the selected channel value changes. 8 The trigger level mask selects one or more bits in the Manufacturer Status Register (index 0x1002, p. 60). The trigger occurs when any of these bits change from to 1. In this mode, the channel number selected by the trigger is not used. 9 Like type 8, but the trigger occurs when the bit(s) change from 1 to 0. 10 Trigger on the start of the next function generator cycle. This trigger type is only useful when running in function generator mode. The trigger channel number isn't used. 15 If set, take one sample per trigger event. Copley Controls 241
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About this Manual CANopen Programme
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About this Manual CANopen Programme
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