ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 306)

After power on, the recorder can access the first 16 signals, as listed in Table 10-2. To
access other signals, the recorder must perform a process called “mapping” in order to
make them available. In the mapping process, the IDs of the desired signals are
mapped to recorder “cells” (logical IDs that can be directly referenced by the recorder)
so that on power on, the signals are mapped to the cells. The following table lists the
additional signals that are available to the
SimplIQ drive recorder. The full list of
signals may differ according to the SimplIQ drive’s grades and released. The signals
can be retrieved from the personality partition of the serial flash memory.
Signal
ID Signal Name
(Command) Length;
Type
Description
17 Field angle Short Stator field angle, 1024 counts per
electrical revolution.
18 Commutation sensor Long
Integer
Position counter, counted modulo
per mechanical revolution, with
origin at electrical angle of zero.
21 Filtered torque command Short Command to Q current controller,
at output of command filter.
45 Motor DC supply voltage Short Sample motor DC supply voltage.
64 External position reference Long
Integer Part of position reference
generated by external inputs.
Table 10-3: Additional Recorded Signals
Prior to being recorded, the signals listed in Table 10-3 must be mapped to the
recorder. Up to sixteen signals may be mapped to the recorder at any time. Up to eight
signals can be recorded simultaneously.
The RV[N]=x command maps a signal with the ID of x to the logical ID of N, N=1…16.
RC is a bit-field parameter (bit 0 to 15) that sends the actual required signal to the
recorder. In this case, bit N-1 of RC points to signal x.
Example:
RV[2]=1 maps the signal with the ID of 1 (main encoder speed) to the logical ID of 2.
This means that in order to record the main encoder speed, bit 1 of RC should be set
(RC=2).
The default mapping, restored at boot, maps the signals of IDs 1 through 16 to the
corresponding logical IDs 1 through 16. Therefore, the signals with IDs 1 through 16
can be recorded using corresponding logical IDs, without further programming.
No mapping is required if only signals with IDs 1 through 16 are needed.
SimplIQ for Steppers Application Note Development Aids
MAN-STECR (Ver. 1.1)
107