| ID | Label | Type | #Val | Min | Max | Attr | Description |
|---|---|---|---|---|---|---|---|
|
12420 |
Trajectory setpoint, mcnt |
Flt64 |
|
|
|
RO |
Trajectory setpoint command received by the servo. |
|
12421 |
Trajectory jerk, mcnt/ltick^3 |
Flt32 |
|
|
|
RO |
These intermediate values are derived by the servo code via successive backward-differencing. The resulting data is used to generated the servo tick level trajectory commands. |
|
12422 |
Trajectory acceleration, mcnt/ltick^2 |
Flt32 |
|
|
|
RO |
|
|
12423 |
Number of consecutive extrapolations performed |
Uint16 |
|
|
|
RO |
This variable displays the number of consecutive extrapolations performed by the servo when GPL trajectory generator setpoints are missed. Its value is set to zero when a new set point is received from the GPL trajectory generator. |
|
12424 |
Total number of extrapolations performed |
Uint32 |
|
|
|
RO |
This variable records the total number of extrapolations performed by the servo since the controller was restarted. |