Chapter 7: Monitoring Gen4 7-1
Reading status variables ........................................................... 7-2
Motor measurements ......................................................................................................... 7-2
Heatsink temperature ........................................................................................................ 7-2
Identification and version ................................................................................................... 7-2
Battery monitoring .............................................................................................................. 7-2
Hours counters .................................................................................................................. 7-3
Logging ..................................................................................... 7-3
FIFO event logs ................................................................................................................. 7-3
Event counters ................................................................................................................... 7-4
Operational monitoring ...................................................................................................... 7-4
CANopen abort code ................................................................. 7-4
Faults and warnings .................................................................. 7-6
Introduction ........................................................................................................................ 7-6
Fault identification .............................................................................................................. 7-6
Fault list ............................................................................................................................7-10
Upgrading the controller software ............................................ 7-10
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