Operation & Software Manual
320
Direct Drives & Systems
Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
17.2 Monitorings M for DSCDP
M Alias Values
Bit #
<P1>
Comment for monitorings M
and <P1> of the DSCDP
Def. Val
<P1>
Min. Val
<P1>
Max. Val
<P1>
DSCDP monitorings
M0
Theoretical position (dpi). Takes the scaling/mapping
correction into account but does not take care of SET
command and K50
0 -2147483648 2147483647
M1
Real position (dpi). Takes the scaling/mapping correction
into account but does not take care of SET command
and K50
0 -2147483648 2147483647
M2
Tracking error. This is the difference between M0 and
M1
0 -2147483648 2147483647
M3 Maximum tracking error during movement 0 0 2147483647
M4 Offset between dpi and upi. [upi] = ([dpi] + M4) >>K50 0 -2147483648 2147483647
M5 Offset due to the homing (dpi) 0 -2147483648 2147483647
M6
Theoretical position (upi). Takes SET command, K50
and the scaling/mapping correction into account
0 -2147483648 2147483647
M7
Real position (upi). Takes SET command, K50 and the
scaling/mapping correction into account
0 -2147483648 2147483647
M8
Theoretical position (dpi). Does not take SET command,
K50 and scaling/mapping correction into account
0 -2147483648 2147483647
M10 Theoretical velocity (dsi) 0 -2147483648 2147483647
M11 Real velocity (dsi) 0 -2147483648 2147483647
M12
Real position (upi) captured on DIN. Takes SET
command, K50 and scaling/mapping correction into
account
0 -2147483648 2147483647
M13 Position given by the secondary encoder (dpi) 0 -2147483648 2147483647
M14 Theoretical acceleration (dai) 0 -2147483648 2147483647
M17 Reference value for mode K61=0, 1, 3, 4 and 36 0 -2147483648 2147483647
M20 Real current in phase 1 0 -32768 32767
M21 Real current in phase 2 0 -32768 32767
M22 Real current in phase 3 0 -32768 32767
M23 Current reference in phase 1 0 -32768 32767
M24 Current reference in phase 2 0 -32768 32767
M25 Current loop look-up table value of phase 1 0 -32768 32767
M26 Current loop look-up table value of phase 2 0 -32768 32767
M27 Current loop look-up table value of phase 3 0 -32768 32767
M29 PWM value of phase 1 0 -512 511
M30 Theoretical force after advanced filter 2 0 -32768 32767
M31 Real force 0 -32768 32767
M32
Theoretical force after K9 filter and before advanced
filters
0 -32768 32767
M36 Inferior position after a SLS command 0 -2147483648 2147483647
M37 Superior position after a SLS command 0 -2147483648 2147483647
M40 Analog encoder sine signal 0 -2048 2047
M41 Analog encoder cosine signal 0 -2048 2047
M43 Analog encoder sine^2 + cosine^2 0 0 4194304
M44 Encoder limit switch 0 0 3
1 0 Encoder limit switch ELS (L1 or L)
2 1 Encoder limit switch EHO (L2 or H)
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