Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 131)

Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 131
Appendix
D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one
(variables 0…30). However, in customer applications additional monitor
variables may be used.
For example, monitoring of variable 32 , Selected index , cannot be performed by
Ultraware software because this variable is outside the range of Ultraware.
However, a customer program that supports 32 variables or more can monitor
this variable.
Variables The table below lists the variables for monitoring a Kinetix 3 drive.
Variable Name Unit
No. Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command %
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle º (degrees)
9 0x09 Mechanical angle º (degrees)
10 0x0A Shunt power limit ratio %
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0F Input and 0utput state
Refer to Variable 15 - Digital Inputs and Outputs on
page 133
for more information.
16 0x10 U phase current 0.001 A
17 0x11 V phase current 0.001 A
18 0x12 W phase current 0.001 A
19 0x13 Motor temperature %
20 0x14 Analog command - velocity 0.01V