Emerson DSM314 - Page 129

User Manual Chapter 4
GFK-1742F Jan 2020
Configuration 118
Table 34: User Selected Return Data
Digital
Analog
Torque
Analog
Velocity
Selected Return Data
Data
Mode
Data Offset
Y
Y
N
Torque Command
00h
not used
Y
Y
Y
DSM Firmware Revision
10h
not used
Y
Y
Y
DSM Firmware Build ID No. (hex)
11h
not used
Y
N
N
Absolute Feedback Offset (cts)
17h
not used
Y
Y
Y
Parameter Data
18h
Parameter
Number (0–255)
Y
Y
Y
CTL bits 1-32
19h
not used
Y
Y
Y
Analog Inputs - Axis 1
1Ch
not used
Y
Y
Y
Analog Inputs - Axis 2
1Dh
not used
Y
Y
Y
Analog Inputs - Aux 3
1Eh
not used
Y
Y
Y
Analog Inputs - Aux 4
1Fh
not used
Y
Y
Y
Commanded Position (user units)
20h
not used
Y
Y
Y
Follower Program Command
Position (cts)
21h
not used
Y
Y
Y
Unadjusted Actual Position (cts)
28h
not used
Y
Y
Y
Unadjusted Strobe 1 Position (cts)
29h
not used
Y
Y
Y
Unadjusted Strobe 2 Position (cts)
2Ah
not used
Torque Command is scaled so that +/- 10000 = +/- 100% torque.
DSM Firmware Revision is interpreted as two separate words for major-minor
revision codes.
DSM Firmware Build ID is interpreted as a single hex word.
Absolute Feedback Offset is the position offset (in counts) that is used to initialize
Actual Position when a digital Absolute Encoder is used. Actual Position = Absolute
Encoder Data + Absolute Feedback Offset.
Analog Inputs provides two words of data for each axis: low word = AIN1 and high
word = AIN2. The data is scaled so that +/- 32000 = +/- 10.0v.
Commanded Position (user units) is a copy of the Commanded Position %AI data
reported for each axis. Refer to Chapter 5.
Follower Program Command Position (cts) is the active commanded position (in
feedback counts) updated and used by the internal motion command generator.
Refer to Chapter 9 - Combined Follower and Commanded Motion.
Unadjusted Actual Position is the accumulated actual position (in counts, not user
units) with a 32-bit binary rollover value of -2,147,483,648 … +2,147,483,647. A
Find Home or Set Position command sets the Unadjusted Actual Position to a value
equal to the %AI Actual Position data scaled to counts. For details on the operation
of Unadjusted Actual Position, refer to “Return Data” in Chapter 5.