| ID | Label | Type | #Val | Min | Max | Attr | Description |
|---|---|---|---|---|---|---|---|
|
12440 |
Sync torque command percentage |
% |
|
|
|
RO |
Torque command sent by GPL to the servos expressed as a percentage of the motor's rated torque. A value of 100 implies output the rated torque. |
|
12441 |
Sync torque command, tcnt |
Flt32 |
|
|
|
RO |
This value is derived from DataID 12440, but the torque value has been converted to a torque count. |
|
12442 |
ADC input torque command, tcnt |
Flt32 |
|
|
|
RO |
If DataID 10440 is set, then the ADC input is sampled and used as the torque command for the amplifier. The ADC voltage range will be mapped to the motor torque limit. NOTE: If GPL also specifies an optional torque command (DataID 12440, 12441), the GPL command is added to the ADC torque command to compute the total torque set point. See DataID 12404. |
|
12443 |
Gravity compensation torque, tcnt |
Flt32 |
|
|
|
RO |
If "Gravity compensation torque" (DataID 10349) is enabled, during torque control mode, this parameter will indicate the gravity compensation that is being applied. |
|
12450 |
SpeedDAC interpolation enable mask |
Uint16 |
|
|
|
RO |
This bit mask illustrates the DAC channels
that are configured for SpeedDAC use. Configured DACS are
continuously written to by the servos and should not be accessed via
the standard AIO commands. |
|
12451 |
SpeedDAC interpolated output |
Flt32 |
6 |
|
|
RO |
This is an array of 6 values that corresponds to the output of the 6 DAC channels (if included in the hardware). When a channel is configured for SpeedDAC operation, these values indicate the current DAC value that the servo is computing by interpolating the values computed by the Trajectory Generator. The value is in units of DAC counts (+-32768). |