0x2C52 - Monitor mapping
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value |
---|---|---|---|---|---|---|---|---|
0x2C52 | 0x01 | Channel 1 | INT32 | RW | No | Yes | See description | 0x60640020 |
0x2C52 | 0x02 | Channel 2 | INT32 | RW | No | Yes | See description | 0x60620020 |
0x2C52 | 0x03 | Channel 3 | INT32 | RW | No | Yes | See description | 0x606C0020 |
0x2C52 | 0x04 | Channel 4 | INT32 | RW | No | Yes | See description | 0x606B0020 |
This object allows select the registers mapped into the monitoring function.
The mapping functionality works similar to the PDO mapping method. The application writes the register information that wants to monitor into each channel. This information is coded as:
Bits | 31 .. 16 | 15 .. 8 | 7 .. 0 |
---|---|---|---|
Data | Object index | Object subindex | Object size (in bits) |
Disabling a channel is useful if more samples are required for one channel (See Monitoring). Write a 0 into the sub index channel to disable it.
All RPDO mappable objects for this functionality:
Object Description | Index | Subindex | Mapping value |
---|---|---|---|
0x20C2 | 0x01 | 0x20C20120 | |
DC link circuit voltage | 0x2101 | 0x01 | 0x21010120 |
Commutation system angle | 0x2305 | 0x03 | 0x23050310 |
Linear hall 1 value | 0x2340 | 0x01 | 0x23400110 |
Linear hall 2 value | 0x2340 | 0x02 | 0x23400210 |
Linear hall 3 value | 0x2340 | 0x03 | 0x23400310 |
Linear hall alpha | 0x2343 | 0x01 | 0x23430110 |
Linear hall beta | 0x2343 | 0x02 | 0x23430210 |
Linear hall zero | 0x2343 | 0x03 | 0x23430310 |
0x2344 | 0x00 | 0x23440010 | |
SinCos Sinus value | 0x2350 | 0x01 | 0x23500110 |
SinCos Cosinus value | 0x2350 | 0x02 | 0x23500210 |
SinCos Reference value | 0x2350 | 0x03 | 0x23500310 |
SMO Estimated i-alpha | 0x2361 | 0x01 | 0x23610110 |
SMO Estimated i-beta | 0x2361 | 0x02 | 0x23610210 |
SMO Measured i-alpha | 0x2361 | 0x03 | 0x23610310 |
SMO Measured i-beta | 0x2361 | 0x04 | 0x23610410 |
SMO Estimated BEMF alpha | 0x2361 | 0x05 | 0x23610510 |
SMO Estimated BEMF beta | 0x2361 | 0x06 | 0x23610610 |
SMO Estimated theta | 0x2361 | 0x07 | 0x23610710 |
Resolver angle | 0x2370 | 0x01 | 0x23700110 |
0x2353 | 0x00 | 0x23530010 | |
SSI encoder - Multi-turn value | 0x2381 | 0x00 | 0x23810020 |
SSI encoder - Single-turn value | 0x2382 | 0x00 | 0x23820020 |
Current phase A | 0x2600 | 0x01 | 0x26000110 |
Current phase B | 0x2600 | 0x02 | 0x26000210 |
Current phase C | 0x2600 | 0x03 | 0x26000310 |
Current direct | 0x2601 | 0x01 | 0x26010110 |
Current quadrature | 0x2601 | 0x02 | 0x26010210 |
Voltage phase A | 0x2602 | 0x01 | 0x26020110 |
Voltage phase B | 0x2602 | 0x02 | 0x26020210 |
Voltage phase C | 0x2602 | 0x03 | 0x26020310 |
Voltage direct | 0x2603 | 0x01 | 0x26030110 |
Voltage quadrature | 0x2603 | 0x02 | 0x26030210 |
Analog input 1 value | 0x2A03 | 0x01 | 0x2A030120 |
Analog input 2 value | 0x2A03 | 0x02 | 0x2A030220 |
Analog input 3 value | 0x2A03 | 0x03 | 0x2A030320 |
Analog input 4 value | 0x2A03 | 0x04 | 0x2A030420 |
Analog input 5 value | 0x2A03 | 0x05 | 0x2A030520 |
Analog input 6 value | 0x2A03 | 0x06 | 0x2A030620 |
Analog input 7 value | 0x2A03 | 0x07 | 0x2A030720 |
Analog input 8 value | 0x2A03 | 0x08 | 0x2A030820 |
Analog output 1 value (11 bits) | 0x2A04 | 0x01 | 0x2A040120 |
Analog output 2 value (16 bits) | 0x2A04 | 0x02 | 0x2A040220 |
Error code | 0x603F | 0x00 | 0x603F0010 |
Statusword | 0x6041 | 0x00 | 0x60410010 |
vl velocity demand | 0x6043 | 0x00 | 0x60430010 |
vl velocity actual value | 0x6044 | 0x00 | 0x60440010 |
Mode of operation display | 0x6061 | 0x00 | 0x60610008 |
0x6062 | 0x00 | 0x60620020 | |
Position actual internal value | 0x6063 | 0x00 | 0x60630020 |
Position actual value | 0x6064 | 0x00 | 0x60640020 |
Velocity demand value | 0x606B | 0x00 | 0x606B0020 |
Velocity actual value | 0x606C | 0x00 | 0x606C0020 |
Target torque | 0x6071 | 0x00 | 0x60710010 |
Torque demand | 0x6074 | 0x00 | 0x60740010 |
Torque actual value | 0x6077 | 0x00 | 0x60770010 |
Current actual value | 0x6078 | 0x00 | 0x60780010 |
DC link circuit voltage | 0x6079 | 0x00 | 0x60790020 |
Target position | 0x607A | 0x00 | 0x607A0020 |
Following error actual value | 0x60F4 | 0x00 | 0x60F40020 |
Control effort | 0x60FA | 0x00 | 0x60FA0020 |
Position demand internal value | 0x60FC | 0x00 | 0x60FC0020 |
Digital inputs | 0x60FD | 0x00 | 0x60FD0020 |
Target velocity | 0x60FF | 0x00 | 0x60FF0020 |