User Manual
Chapter 5
GFK-1742F
Jan 2020
DSM314 to Host Controller Interface
156
Torque Command to be reported. The default mode and offset for User Selected
Data 1 can be set in the module configuration software.
4.21 Select Return Data 2. This command allows alternate data to be reported in the User
Selected Data 2 %AI location for each axis. The alternate data includes information
such as Parameter memory contents and the DSM314 Firmware Revision.
The Select Return Data 2 command uses a mode selection and an offset selection.
The mode selection (byte 1 of the six-byte command) determines the Return
Data type. The offset selection (byte o2, +3 of six-byte command) selects an
individual data item for some modes. Setting the mode to 00h causes the default
Torque Command to be reported. The default mode and offset for User Selected
Data 2 can be set in the module configuration software.
The following selections are allowed for Select Return Data 1 and Select Return
Data 2.
Return Data
Digital Analog
Torque
Analog
Velocity
Selected Return Data
Data
Mode
Data Offset
Y
Y
N
Torque Command
00h
not used
Y
Y
Y
DSM Firmware Revision
10h
not used
Y
Y
Y
DSM Firmware Build ID No.
(hex)
11h
not used
Y
N
N
Absolute Feedback Offset
(cts)
17h
not used
Y
Y
Y
Parameter Data
18h
Parameter
Number (0
–
255)
Y
Y
Y
CTL bits 1-32
19h
not used
Y
Y
Y
Analog Inputs - Axis 1
1Ch
not used
Y
Y
Y
Analog Inputs - Axis 2
1Dh
not used
Y
Y
Y
Analog Inputs - Aux 3
1Eh
not used
Y
Y
Y
Analog Inputs - Aux 4
1Fh
not used
Y
Y
Y
Commanded Position (user
units)
20h
not used
Y
Y
Y
Follower Program Command
Position (cts)
21h
not used
Y
Y
Y
Unadjusted Actual Position
(cts)
28h
not used
Y
Y
Y
Unadjusted Strobe 1
Position (cts)
29h
not used
Y
Y
Y
Unadjusted Strobe 2
Position (cts)
2Ah
not used
Torque Command is scaled so that +/- 10000 = +/- 100% torque.