Digitax ST User Guide
97
Issue: 5
Table 9-124 In cyclic data configuration
9.26 Internal shortcuts
Internal shortcuts are provided for very fast operation. It is not possible
to read the values non-cyclically; they can only be accessed at certain
parts of the cycle in order to read and write correct values.
Table 9-125 Internal position feedback shortcut
Table 9-126 Internal torque shortcut
0x2821
In cyclic data configuration
Sub-index 0
Access:
RO
Range
: N/A
Size
:
Unsigned 8
Unit:
N/A
Default:
2
Description:
The number of the last sub-index in this object.
Sub-index 1
Access:
RW
Range
: 0 to 2
Size
:
Unsigned 8
Unit
: ms
Default:
1
Description:
High priority cyclic data task; selects the task in which
high priority in (slave to master) cyclic data is copied
between the intermediate buffer and the mapped
objects, parameters, etc.
0 – Critical task. This is the default task. This is the first
90
μ
s of the critical task.
1_C90 task (
Default
). This is the task that
commences 90
μ
s after the critical task start, and
finishes before the next critical task.
2 – Sync Manager task (default). This is the AL event
task which occurs upon a sync manager access.
Sub-index 2
Access:
RW
Range
: 0 to 2
Size
:
Unsigned 8
Unit
: N/A
Default:
1
Description:
Intermediate buffer copy task. Selects the task in which
the high priority in (slave to master) cyclic data is copied
into the intermediate buffer.
0 – Critical task. This is the first 90
μ
s of the critical task.
1_C90 task (
Default
). This is the task that
commences 90
μ
s after the critical task start, and
finishes before the next critical task.
2 – Sync Manager task (default). This is the AL event
task which occurs upon a sync manager access.
0x2830
Internal position feedback shortcut
Sub-index 0
Access:
RO
Range
:
-2
31
to
+2
31
-1
Size
: Signed 32
Unit
: Counts
Default:
0
Description:
This value is the
drive
feedback source. It consists of the
coarse position in the most significant 16 bits and the fine
position in the least significant 16 bits.
It will then have a number of turns bits shifted into the
most significant bits (“pushing” as many fine position bits
as required out).
This should not be read in the first 90
μ
s after the RMINT
edge, because data skew may result.
0x2831
Internal torque shortcut
Sub-index 0
Access:
RW
Range
: N/A
Size
:
Signed
16
Unit
:
0.01 % rated
torque
Default:
0
Description:
This represents the drive internal torque shortcut, scaled
to 0.01 % units.
Summary of Contents for Digitax ST
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