Rockwell Automation 2092-DAx Ultra1500 Host Commands for Serial Communication Reference Manual - Manual (Page 63)

Publication 2092-RM001A-EN-P — March 2005
Error Codes, Warnings, and Monitor Variables A-3
Monitor Variables This table defines the variables that can be selected for the following
parameters:
[Pr – 5.12] Analog Output CH1 Selection on page 2-35,
[Pr – 5.13] Analog Output CH2 Selection on page 2-35,
[Pr – 5.14] Analog Output CH1 Scale on page 2-35,
[Pr – 5.15] Analog Output CH2 Scale on page 2-35
[Pr – 6.07] Fault Detail Data Selection 1 on page 2-37,
[Pr – 6.08] Fault Detail Data Selection 2 on page 2-37,
[Pr – 6.09] Fault Detail Data Selection 3 on page 2-37, and
[Pr – 6.10] Fault Detail Data Selection 4 on page 2-37.
Variable
Numbers Name Ultraware Name Unit
0x00 Speed Feedback Velocity Feedback rpm or mm/sec
0x01 Speed Command Velocity Command rpm or mm/sec
0x02 Speed Error Velocity Error rpm or mm/sec
0x03 Current Command Current Command 0.1% of motor rated continuous torque
0x04 Position Feedback Follower Position counts
0x05 Position Command Master Position counts
0x06 Position Error Position Error counts
0x07 Position Pulse Command Frequency
Position Command Count
Frequency
0.1 kilocounts/sec
0x08 Electrical Angle Commutation Angle 0.1 o (degrees)
0x09 Mechanical Angle Mechanical Angle 0.1
o
(degrees)
0x0A Regenerative Accumulation Loading Rate Shunt Power Limit Ratio %
0x0B DC Link Rate Bus Voltage V
0x0C Multi-rotation Data of Absolute Encoder Absolute Rotations revolutions
0x0D Speed Command Offset Velocity Command Offset mV
0x0E Current Command Offset Current Command Offset mV
0x0F
Input and Output Status
Size: 3 bytes
Bits 1 to 7 = Input Statuses
Bit 8 = Estop
(0 = Normal Operation)
Bits 9 to 11 = Output Statuses
Bit 12 = Fault
(0 = Fault, 1 = No fault)
Input and Output Status
0x10 U phase Current U Phase Current 0.001 A
0x11 V Phase Current V Phase Current 0.001 A
0x12 W Phase Current W Phase Current 0.001 A
0x13 Motor Overload Percentage Motor Temperature %
0x14 Analog Velocity Command Voltage Analog Command - Velocity 0.01 V
0x15 Analog Current Command Voltage Analog Command - Current 0.01 V
Digital Outputs 3 - 1:
3 and 1 active
Servo Alarm:
No errors
E-Stop:
Not active
Digital Inputs 7 - 1:
6, 5, 3, and 1 active
7 1 3 1 2 3 2 5 4 6