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
Drive temperature	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
Linear hall estimated angle	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
SinCos estimated angle	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
Position demand value	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