Omron OMNUC W R88A-NCW152-DRT, Manual

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6.9 Tracing Data
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6.9 Tracing Data
The data trace function allows a host controller to read I/O information and operating data col-
lected in the Servo Driver’s memory via the DeviceNet.
By implementing trace settings, data is collected in the Servo Driver’s memory. Then, by imple-
menting trace data reading, the collected data can be read from a host controller by means of
Explicit Messages.
The following table provides an outline of the data trace function
.
Note 1. It takes approximately one minute from the beginning of the tracing until the end.
2. Trace parameters are not saved when the Unit is reset. When the power is turned OFF, the
default values are restored.
3.
The LED indicators on the front panel of the Servo Driver are not lit while tracing is being
executed.
6.9.1 Trace Parameters
„ Trace Settings
The following table shows the parameters for the data trace function.
Item Contents
Trace targets Data trace: 2 items max.
I/O trace: 2 items max.
Trace data targets Torque commands, speed feedback, command pulse rate, position deviation
I/O data trace targets /ALM, INP1, VCMP, TGON, READY, CLIMT, VLIMT, BKIR, /WARN, INP2, ALO1,
ALO2, ALO3
Number of trace points 1,000 points each
Sampling cycle
250
µ
s to 8,191,750
µ
s (Up to approximately 8 seconds can be set in units of 250
µ
s.)
Object Attribute Access Name Data
Type Contents
0x67
#10
Get/Set Data Trace1 UINT Selection of target for data trace 1.
#11
Get/Set Data Trace2 UINT Selection of target for data trace 2.
#12
Get/Set I/O Trace1 UINT Selection of target for I/O trace 1.
#13
Get/Set I/O Trace2 UINT Selection of target for I/O trace 2.
#14
Get/Set Sampling Cycle DINT Sampling cycle setting
#15
Get/Set Trigger Target UINT Trigger target setting
#16
Get/Set Trigger Level UINT Trigger level setting
#17
Get/Set Edge Type UINT Edge type setting
#18
Get/Set Pre-Trigger UINT Pre-trigger data setting
#19
Get/Set Start Trace UINT Data trace command
#20
Get Trace Status UINT Data trace status