Amplifier types that are in effect for each axis. This value reflects the amplifier type as specified by DataID 10029.

    0 - Unknown
    1 - iDrive2 (Obsolete)
    2 - Guidance G3x00, peak current 8A
    3 - Guidance G3x10, peak current 13.3A
    4 - Guidance G2x00, peak current 8A
    5 - Guidance G2x10, peak current 13.3A
    6 - Guidance G3x20A, peak current 20A
    7 - Guidance G2x20A, peak current 20A
    8 - Guidance G3x30A, peak current 30A
    9 - (reserved)
  10 - Guidance G1x00, peak current 5A
  11 - Guidance G3x10A, peak current 10A
  12 - Guidance G2x10A, peak current 10A
  13 - Guidance G2x10B/C, peak current 10A
  14 - Guidance G2x20B/C, peak current 20A
  15 - Guidance G1x00A, peak currents 15/15/10/10A
  16 - Guidance G1x00B, peak currents 15/15/10/10A
  17 - Guidance single axis servo board (GSB), peak current 9.43A
  18:19 - (reserved)
  20 - Generic 3rd party amplifier using the DAC interface
  21:50 - (reserved)

Motor types as specified in the CANopen specification. Not all motor types are supported by the servos. See list below:

   0 - custom motor (not supported)
   1 - phase modulated DC motor (not supported)
   2 - frequency controlled DC motor (not supported)
   3 - permanent magnet synchronous motor
   4 - field controlled synchronous motor
   5 - switched reluctance motor (not supported)
   6 - wound rotor induction motor (not supported)
   7 - squirrel cage induction motor (not supported)
   8 - stepper motor (not supported)
   9 - micro-step stepper motor (not supported)
   10 - sinusoidal permanent magnet brushless motor
   11 - trapezoidal permanent magnet brushless motor

The actual commutation method in effect for each axis.  This value reflects the motor commutation method as specified by DataID 10030.

   0 - self-commutating, i.e., 3rd party amp/motor that accepts +/- 10V DAC
   1 - Vector control, used by the G3xxx/G2xxx amplifiers
   2 - Sine-wave commutation (defaults to vector control)
   3 - 6-step commutation (not supported)
   4 - Single phase output, special mode to control voice coils and other single phase motors

A bit mask that enables run-time data logging of FPGA registers that are related to the amplifier commutation operation. This value should normally be set to 0 to disable this feature.  This mode is provided for debugging purposes only and increases the CPU utilization of the servo code.  The following bits are defined in this mask:

   &H01 - Set to log standard current loop and PWM data.
   &H02 - Set to log additional current loop data.

See DataID 10604 for the bit that indicates the state of this optional mode.

Displays the amplifier software configuration, which includes some of the setup data such as the motor commutation method:

   bit 0:3 - motor commutation method (see DataID 10030)
   bit 4:6 - commutation feedback device:
        0=encoder
        1=Hall-effect sensor
   bit 7:10 - amplifier mode (internal)
   bit 11 - U/f control current loop mode:
        0=voltage (open)
        1=current (closed)
   bit 12:15 - (reserved)
   bit 16 - enable amplifier data logging (see data ID 10603)

Enable PWM output, 1=enable, 0=disable. This is normally set to "1" by default.

(3rd Party Amplifiers) This DataID is only effective when the axis is configured to interface with a 3rd party amplifier through a DAC channel.  The error block is internally invoked during the robot power-up sequence, specifically when the amplifier is being enabled. This block time allows an amplifier to have sufficient time to clear the "amp fault" signal back to the controller. The following timing configurations are available:

   0 - 100 msec
   1 - 250 msec
   2 - 500 msec
   3 - 750 msec
   4 - 1 sec
   5 - 1.25 sec
   6 - 1.50 sec
   7 - 2.50 sec (default)

(Not supported) Provide a voltage pulse to release a brake. Typically a 24V brake would release if the input voltage is supplied. However, once the brake is released the brake "holding" voltage may be dropped to a lower value, e.g., 16V. This configuration allows a 24V "pulse" to be supplied at a specified duration before it drops to a lower holding voltage value.

   0 - no voltage pulse, same brake voltage is applied all of the time
   1 - 0.50 sec
   2 - 0.75 sec
   3 - 1.00 sec
   4 - 1.25 sec
   5 - 1.50 sec
   6 - 2.00 sec
   7 - 2.50 sec

Torque sign, which inverts the output torque sign from the feedback compensator. This is used in conjunction with the encoder sign to make sure that a negative feedback loop is achieved.

Maximum amplifier current per phase in amps. This is the peak instantaneous value and is not the RMS value.  Some control vendors specify the maximum amplifier current as the maximum RMS value.  However, Guidance amplifiers are specified in terms of the peak permitted current per phase.  Since each amplifier phase generates a sinusoidal current profile, the maximum RMS value is equal to the peak instantaneous value divided by sqrt(2).

This value is normally automatically determined when the system is restarted based upon the detected amplifier type (see "Ignore amplifier type from hardware" Dataid 10012). However, for custom amplifiers of an unknown type, this value may be manually changed to match the hardware.

This parameter should be set to the "Rated armature current" for the motor that is interfaced to the amplifier.  This value is normally provided in the specification sheet for the motor and is typically in units of RMS amps "A(rms)".

This defines the maximum average single phase current that the motor can accept on a continuous basis when it is turning (i.e. not stalled).  Since each phase of the motor is driven by a sinusoidal current profile, the RMS value is 1/sqrt(2) times the maximum current that any phase will receive when the motor is continuously operated.

To protect the motor, this value is used to determine if an motor is being over driven and an error should be generated (see "Duty cycle % limit" DataID 10623).  This value is also utilized as a reference by other parameters, such as the "AUTO mode motor PEAK(non-RMS)/(RMS rated) current, %" (DataID 10613), the Dynamic Feedforward parameters (DataID 16070), torque control mode, etc.

See also DataIDs 10610, 10612, 10613, 10615.

RMS rated motor torque in tcnts.  This is computed from the "RMS rated motor current, A(rms)" (DataID 10611) and the "Amplifier PEAK(non-RMS) current, A(z-p) (DataID 10610).

This is an internal parameter used by the servo's run-time operation.

Motors can only be continuously driven at the "RMS rated motor current, A(rms)" (DataID 10611).  However, for short periods of time (a few tenths of a second or at most a few seconds), motors can be driven at much higher peak currents.  In fact, for most applications, motors are often driven over the RMS rated current during acceleration and deceleration intervals.

This parameter specifies the peak current that a single motor phase can be driven at under PROGRAM control.  This value is defined as a percentage of the "RMS rated motor current, A(rms)" (DataID 10611). 

The Rated current (DataID 10611) is defined as a single phase RMS current since it specifies how a motor can be driven continuously.  But, since the Peak current specified by this DataID represents short instantaneously currents, it is specified as the maximum (non-RMS) current for a single motor phase.  If the data sheet for a motor specifies the peak armature current for a motor as a RMS value (A(rms)), the peak RMS current should be multiplied times sqrt(2) when computing the value for this non-RMS parameter.

Example #1 (Tamagawa motor):

   Motor specification for rated current = 2 A(rms)
   Motor specification for peak current = 6 A(rms)
   Set RMS rated motor current (10611) = 2 A(rms)
   Set DataID 10613 = (6/2)*sqrt(2) = 424.26 %

Example #2 (Panasonic motor):

   Motor specification for rated current = 1.1 A(rms)
   Motor specification for peak current = 4.7 A(z-p)
   Set RMS rated motor current (10611) = 1.1 A(rms)
   Set DataID 10613 = (4.7/1.1) = 427.27 %

If the servo PID loop demands more current than the peak specified by this parameter, no error is generated and the current command is limited to this value.

If the peak current defined by this parameter is greater than the "Amplifier PEAK(non-RMS) current, A(z-p)" DataID (10610), the peak is automatically limited to the maximum available from the amplifier.

See also DataIDs 10610, 10611, 10614, 10615.

Computed peak permitted single phase motor torque when the motor is under PROGRAM control, in units of tcnts.

This is an internal parameter used by the servo's run-time operation.

This parameter specifies the peak permitted current for a single motor phase when the Auto/Manual input signal is set to MANUAL (i.e. manual control mode).  This value is provided as a safety precaution and limits the maximum current command that the servos can generate in manual control.

This value is equivalent to the setting of the "AUTO mode motor PEAK(non-RMS)/(RMS rated) current, %" (DataID 10613), but applies during manual control mode.   Please see the description of DataID 10613 for information on how to compute the value of this parameter.

The value of this parameter is automatically forced by the system to be less than or equal to the AUTO mode maximum peak motor current value.

See also DataIDs 10610, 10611, 10613, 10616.

Computed peak permitted single phase motor torque when the motor is under MANUAL control, in units of tcnts.

This is an internal parameter used by the servo's run-time operation.

Duration time in seconds used for checking for a motor stalled condition.   This is currently utilized to detect if a motor drive is continuously saturated at its peak torque/current as specified by the product of "RMS rated motor current, A(rms)" (DataID 10611) times "AUTO mode motor PEAK(non-RMS)/(RMS rated) current, %" (DataID 10613).

If the duration time is <= 0, then the motor stalled check is disabled.

This parameter was designed to implement high performance "guarded moves" where the commanded output force or torque of one or more motors are limited to permit physical contact without damaging the robot or the object due to excessive forces.  Specifically, this parameter temporarily limits the peak commanded current for a motor.

During normal automatic operation, each motor's peak commanded force or torque is limited by the product of the "RMS rated motor current, A(rms)t" (DataID 10611) and the "AUTO mode motor PEAK(non-RMS)/(RMS rated) current, %" (DataID 10613).  During normal manual control mode, each motor's peak commanded force or torque is limited by the product of the "RMS rated motor current, A(rms)" (DataID 10611) and the "MANUAL mode motor PEAK(non-RMS)/(RMS rated) current, %" (DataID 10615).

If the Guarded move max motor torque % is greater than zero, DataID's 10613 and 10615 are temporarily superseded by the smaller of their original values and DataID 10618.  So, the Guarded move % can limit peak motor torque levels in automatic control mode, manual control mode and torque control mode.

If the Guarded move % is zero, DataID's 10613 and 10615 control the operation of the motors in their normal fashion.

The Guarded move % does not alter the values of 10613 and 10615, it only internally over-rides their settings. Also, this parameter is not stored in the CONFIG PAC files, so, restarting the controller will restore the servos to their normal operating mode.

Internal parameter used to scale current values (in amps) to (internal unit) in units of tcnts/amp.

Inverse of data ID 10619 in units of amps/tcnt.

This is the frequency of the duty cycle SPR (Single-Pole Roll-off) filter (in Hz) that is utilized to compute the "Duty cycle value" (DataID 12606).  If the "Duty cycle value" is too sensitive to short periods of high current utilization and a duty cycle error is being triggered even though the motor is running very cool, this filter frequency should be reduced to filter out more transient behavior.  This value is typically set at 0.1 Hz by default.

Duty cycle exceeded duration in seconds. When set, if the "Duty cycle value" (DataID 12606) exceeds the "Duty cycle limit" (DataID 10624) for the specified time, then a *Motor duty cycle exceeded* (-3104) error is issued. If this value is 0, then as soon as the duty cycle value exceeds the limit, an error is generated.

Duty cycle testing is intended to prevent a motor from being damaged due to overheating.  The overheating estimate is computed based upon the average power that is supplied to a motor by an amplifier over a period of time.  Specifically, a motor's duty cycle value is computed by squaring the motor's current feedback reading and applying the filter specified by "Duty cycle SPR filter pole" (DataID 10621) to average in the effect of short periods of high power demand.  The motor current is squared so that the test will be based upon power (I^2 R) rather than current to provide a better estimate for motor heating.

This parameter specifies the duty cycle error limit as a function of the "RMS rated motor current, A(rms)" (DataID 10611).  For example, if the default value of 100% is used, the duty cycle limit will be set to (100% * "Rated motor current")^2.

If this parameter is set to <= 0 then duty cycle checking is disabled.

For most cases, a value of 100% should be utilized.

Computed duty cycle limit based on DataID 10623 and 10611 in units of tcnt^2.  This is compared to the "Duty cycle value, tcnt^2" (DataID 12606) to determine if a duty cycle error should be generated.

The controller power sequencing software automatically generates a single brake release digital output signal (8331) that is related to the 3rd integrated amplifier.  As a wiring convenience, this same signal is present on all of the motor connectors.  If you wish to assign a brake release signal to another axis or if your controller does not have any integrated amplifiers, you can specify a general purpose digital output for use for this purpose. If you want the standard system brake release signal that is wired to all of the motor connectors to be trigger when an axis (other than the 3rd axis) is enabled, set its value to 8331.  For example, if the second motor for a robot is the Z-axis, the second parameter in this DataID should be set to 8331.  This parameter is typically un-assigned and is set to channel 0.

(3rd Party Amplifiers) This parameter is only valid if an axis is configured to be driven by a 3rd party amplifier, i.e. the "Amplifier type" (DataID 10029) is set to "20".  In this case, this parameter indicates the number of the DAC channel that will be utilized.

(3rd Party Amplifiers) This offset value compensates for any DC bias in the amplifier and is in units of torque counts, tcnts.   See "Torque output scale factor" (DataID 10628) for more information.

(3rd Party Amplifiers) Independent of whether an integrated or a 3rd party amplifier is connected to an axis, internally, the servo always maps the peak single phase amplifier (not motor) current (DataID 10610) to torque values of +/- 32767 tcnt.  For 3rd party amplifiers, the torque commands represented as torque counts are then converted to +/- 10VDC using the following equation:

    DAC_output = ((torque-offset)/32767) * 10V * scale

However, if the amplifier can only accept a voltage range of less than 10V, e.g. 8V, then the "Torque output scale factor" specified by this parameter may be used to scale down the final DAC output.  This equation also includes a DAC offset to compensate for any DC bias in the amplifier.

(3rd Party Amplifiers) Optional DOUT signal that is used to clear an amplifier fault. For certain 3rd party amplifiers, instead of using the amplifier enable signal to clear a fault, the amplifier requires that the fault be cleared explicitly. In these cases, a general purpose digital output signal may be used for this purpose via this parameter.

(EtherCAT) Defines the GPL torque count value (tcnts) that will result in the EtherCAT slave amplifier/motor generating 100% of its rated torque output. For a typical EtherCAT slave, this parameter is set to 1000 and if GPL generates a torque output count of 1000, the motor will output 100% of its rated torque. This parameter is provided to compensate for non-standard EtherCAT slaves that require a value other than 1000.

This parameter defaults to 1000.