| ID | Label | Type | #Val | Min | Max | Attr | Description |
|---|---|---|---|---|---|---|---|
|
12080 |
Servo status check bitmask |
Uint32 |
|
|
|
RO |
This bitmask indicates which axes status' have already been checked. This value is cleared when it equals the axis "enable" bitmask (DataID 10094). So, a complete status checking cycle for all axes for a servo board would be a sequence where the bitmask value repeats itself. |
|
12081 |
Servo status update counter |
Uint16 |
|
|
|
RO |
This is a tick counter that counts the # of servo cycles required to complete a full cycle of the status update task. The counter value increments by 1 each servo tick. For example, if the status update rate is set at 1 msec and servos execute each 0.125 msec, then the counter would increment from 1 to 8 and then wrap back to 1. |
|
12082 |
Servo setpoint sequence error count |
Uint16 |
|
|
|
RO |
For servos that execute on slave nodes within a Network Servo System, if an Ethernet packet that contains setpoints is missed or out of sequence while robot power is enabled, this error count will count up by 1. For information on the number of the received or missing packet, see "Axis setpoint sequence number" (DataID 12105). |