Amplifier software status word. The following bit flags provide status information:

   bit 0 - amplifier commutation ready
   bit 1 - brake released
   bit 2 - amplifier enabled
   bit 3 - high power enabled
   bit 4 - error block active
   bit 5:7 - Hall-effect sensor state
   bit 8 - amplifier clear state active
   bit 9 - offset adjustment completed
   bit 10 - power supply dump circuit enabled
   bit 11:15 - (reserved)
   bit 16 - amplifier fault
   bit 17 - brake fault
   bit 18 - amplifier over-voltage
   bit 19 - amplifier under-voltage
   bit 20 - amplifier over-current
   bit 21 - motor stalled
   bit 22 - duty cycle exceeded
   bit 23 - amplifier's RMS current exceeded
   bit 24:31 - (reserved)

System high power control register:

   bit 0 - enable high power
   bit 1 - turn on high power lamp
   bit 2 - force an ESTOP via software
   bit 3 - enable amplifier's charge pump
   bit 4:15 - (reserved)

System high power status register:

   bit 0 - high power enabled
   bit 1 - high power lamp turned ON
   bit 2 - channel 1 ESTOP loop open
   bit 3 - channel 2 ESTOP loop open
   bit 4 - in delayed ESTOP, FPGA's ESTOP timer is active
   bit 5 - high power turned OFF due to ESTOP timer expired
   bit 6 - high power ON requested from front panel
   bit 7 - system in AUTO (not MANUAL) mode, bit 0
   bit 8 - system in AUTO (not MANUAL) mode, bit 1
   bit 9 - system watchdog timer timed out
   bit 10 - fast DIN latched
   bit 11 - external ESTOP active
   bit 12:15 - (reserved)

Amplifier control register, one per axis:

   bit 0 - enable amplifier
   bit 1:3 - error block timing configuration
   bit 4:6 - brake voltage pulse configuration
   bit 7 - disable FPGA's commutation position update
   bit 8 - enable induction motor vector control
   bit 9 - commutation sign
   bit 10 - open loop direct PWM control
   bit 11 - open loop U/f control
   bit 12 - reset amplifier fault
   bit 13 - enable dynamic brake
   bit 14 - release brake
   bit 15 - enable PWM output

Amplifier status register, one per axis:

   bit 0 - amplifier fault
   bit 1 - brake fault
   bit 2 - over-voltage fault
   bit 3 - (reserved)
   bit 4 - under-voltage fault
   bit 5 - (reserved)
   bit 6 - over-current fault
   bit 7 - (reserved)
   bit 8 - error block state
   bit 9:11 - Hall-effect sensor state
   bit 12:14 - (reserved)
   bit 15 - Single phase output

The temperature, in degrees Celsius, of the amplifier associated with each motor.  The value is 0 if the amplifier does not exist or has no temperature sensor. 

For the G3xxx and G1xxxA/B controllers (except for the G3x3xA 30A version), this temperature is taken from a sensor mounted on a built-in heat sink for the power modules. Depending upon how well the controller is mounted to an external heat sink, the temperature reading can be from 20C to 30C lower than the actual power module temperature.  With proper heat sinking, this DataID's values should be 80C or lower.

For the G3x3xA 30A version, the temperatures are taken directly from sensors in the power modules.  Therefore, the DataID's values should be 100C or lower.

For the G2xxx controllers, the chips are equipped with internal temperature monitoring to protect the power modules, but they do not have temperature sensors that can be read.

Run-time duty cycle value in units of tcnt^2. This value is calculated as I^2 (or current feedback squared), and is heavily filtered via the filter specified by the "Duty cycle SPR filter pole" (DataID 10621). Under normal operation, this value should not exceed the "Duty cycle limit" (DataID 10624).  If the limit is exceed, an error is generated to prevent over heating the motor.

Input torque command into the current loop in units of tcnt. The torque command sources may vary. Typically it comes from the output of the position loop feedback compensator.

Run-time duty cycle % value. The % value is calculated by dividing the run-time duty cycle value (DataID 12606) in units of tcnt^2 by the "Duty cycle limit" (DataID 10624), which is also in units of tcnt^2.  So, to determine how close this value is to the "Duty cycle limit in terms of rated torque, %" (DataID 10623), you have to compute the square root of this value.

(EtherCAT) Returns the torque output read back from a EtherCAT slave motor drive.