Zapi DUALACE2 NEW GENERATION - Page 105

AFNZPxxx– DUALACE2 NEW GENERATION – User Manual Page 105/169
TESTER (Supervisor µC)
Parameter
Unit of measure
(resolution)
Description
CONTROL WORD
(CO)
0-65535
Control word transmitted over CAN bus.
STATUS WORD
(CO)
0-65535
Status word travelling over CAN bus.
WARNING SYSTEM
(CO)
0-65535
Warning code (in case of warning).
TORQUE REQ.
(CO)
% (255 steps)
Torque setpoint of the AC motor transmitted over CAN
bus, expressed as percentage of the maximum torque.
TORQUE BRK REQ.
(CO)
% (255 steps)
Breaking torque setpoint of the AC motor transmitted over
CAN bus, expressed as percentage of the maximum
torque.
BYTE 4 PDO1TX
(CO)
% (255 steps)
Status byte4 of PDO1TX travelling over CAN bus.
BYTE 5 PDO1TX
(CO)
% (255 steps)
Status byte5 of PDO1TX travelling over CAN bus.
BYTE 6 PDO1TX
(CO)
% (255 steps)
Status byte6 of PDO1TX travelling over CAN bus.
BYTE 7 PDO1TX
(CO)
% (255 steps)
Status byte7 of PDO1TX travelling over CAN bus.
BYTE 2 PDO2TX
(CO)
% (255 steps)
Status byte2 of PDO2TX travelling over CAN bus.
BYTE 5 PDO2TX
(CO)
% (255 steps)
Status byte5 of PDO2TX travelling over CAN bus.
WORD 6 PDO2TX
(CO)
% (255 steps)
Status word of PDO2TX travelling over CAN bus.
ROTOR POSITION
(Only for BLE2 version)
(A)
Degrees (0.1°)
Real-time absolute orientation of the rotor, expressed in
degrees.