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In order to allow precise time-based monitoring of the evolution of system critical parameters, EMCL includes a special mode called monitoring. Once this mode is configured and activated, motion parameters (up to 4) are captured at the specified rate and stored into the internal buffer. Data acquisition continues until monitor mode is disabled or until the buffer is filled.

Monitoring specifications

Maximum sampling rate**10 kS/s
Number of channels4
Trigger optionsOn motion
Maximum samples*11200

** The maximum sampling rate is obtained from the current loop update rate.

* With 1 enabled channel containing a register of 1 byte size.

Monitoring configuration

There are two main parameters to configure in the monitoring:

Capture parameters

The capture parameters include the 0x2C50; 0x01 - Sampling rate and the trigger options.

The sampling rate is expressed in multiples of the minimum sampling period (100 μs/S). A higher sampling rate would mean a lower window time, therefore it must be set properly considering each application to obtain useful data.

The trigger of the monitoring could be configured by using 0x2C55 - Trigger 1.

Mapping parameters

The monitoring has 4 channels where any PDO mappable and read-only dictionary objects may be mapped. On the other hand, the monitoring has an internal buffer of 11200 bytes to store the captured data. This buffer is distributed between the 4 channels according to the mapped object sizes. Therefore, the total number of samples per monitoring executions depends on the mapped objects in the channels.

The total number of samples can be read from the register 0x2C51;0x01 - Max entry number. This value is updated each time a change has been made in the 0x2C52 - Monitoring mapping.


Example 1

If the 4 channels contains a object with the next sizes:

  • Channel 1: 4 bytes
  • Channel 2: 4 bytes
  • Channel 3: 4 bytes
  • Channel 4: 4 bytes

The total number of samples is:

Example 2

  • Channel 1: 0 bytes
  • Channel 2: 2 bytes
  • Channel 3: 4 bytes
  • Channel 4: 2 bytes

The total number of samples is:

Thus, the final time window depends on the sampling rate and the objects mapped into the channels.


Example 1

Same situation than Example 1 above:

Sampling rate (register value)Sampling rate (kS/s)Total time window (ms)
110 kS/s70
500,2 kS/s3500
10000,01 kS/s70000

Example 2

Same situation than Example 2 above:

Sampling rate (register value)Sampling rate ( kS/s )Total time window (ms)
110 kS/s140
500,2 kS/s7000
10000,01 kS/s140000

Monitoring operation

Once the monitoring is properly configured, it must be enabled using the register 0x2C50; 0x01 - Enable mode.


Releases older than 2.3.0 do not support the mapping capability. Predetermined parameters where stored in function of the selected mode of operation instead:

Profiled & Cyclic synchronous torque mode: Torque actual (entry 1), torque demand (entry 2) and flux actual (entry 3).

Profiled & Cyclic synchronous velocity mode: Velocity actual (entry 1), velocity demand (entry 2), torque actual (entry 3) and torque demand (entry 4).

When option "Velocity mode uses Position loop" is selected (See register 0x2507), monitoring mode will save parameters related to position to provide information of the real values used by the loop. The following values will be then stored:

Position actual (entry 1), position demand (entry 2), torque actual (entry 3) and torque demand (entry 4).

Profiled & Cyclic synchronous position mode: Position actual (entry 1), position demand (entry 2), torque actual (entry 3) and torque demand (entry 4).

Related objects

0x2C50 - Monitor config

0x2C51 - Monitor result

0x2C52 - Monitor mapping

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