AMD2000 Series - Servo Drive - User Manual
100
DS619-0-00-0019 - Rev 0
ANCA Motion
Less Than
(*34064 & 34065) < 34066
only U16 & U32
Finally, if the variable pointed to by the trigger (IDN 34064) is an array, then the index of the element
that should be used from this array can be specified via bits 8-11 of the Data Logger Control Word (P-0-
1299 / 34067). Values up to array index of 15 are supported. For non-array variables, bits 8-11 should
be set to 0.
If the user wishes to avoid using a specific trigger, and simply commence sampling, with completion at
the end of 2048 samples, then it is possible to set bit 0 of the Data Logger Control Word (P-0-1299 /
34067) to 1. This will take precedence over all other triggering configurations and will commence the
data logging as soon as the data logger is enabled (see below, point 5, for how to enable the logger).
5. The Drive Data Logger is enabled by setting (P-0-1292 / 34060) to 3.
6. The user can then read back the logged data from the 2048 element array stored for each variable from
the following
list of IDN’s:
a. Channel 0: P-0-1301 / 34069 <-- an IDN representing a 2048 element array
b. Channel 1: P-0-1302 / 34070 <-- an IDN representing a 2048 element array
c.
Channel 2: P-0-1303 / 34071 <-- an IDN representing a 2048 element array
d. Channel 3: P-0-1304 / 34072 <-- an IDN representing a 2048 element array
There are a number checks within the Drive Data Logger module to ensure that the specified configuration
parameters, that were discussed above, are within acceptable bounds. Any violations are reported in the Data
Log Error Word (P-0-1305 / 34073), and 5 such violations are as follows:
IDN 34073
Label
bit 0
Number of pre-trigger samples exceeds buffer length
bit 1
IDN specified for trigger is not valid
bit 2
IDN index specified for trigger is not valid
bit 3
Comparison operator is not valid
bit 4
Sample period factor is not valid
Example Usage
Trigger from Drive Stimulus Injection
Velocity response / current response in the frequency domain
Step 1: Specify the IDNs and IDN indexes to log, for example:
IDN 34061 [0] = 33006
Idq Current Command (IDN 33006)
IDN 34061 [1] = 33050
Idq Current Feedback (IDN 33050)
IDN 34061 [2] = 0
(not used)
IDN 34061 [3] = 0
(not used)
IDN 34068 [0] = 1
Element 1: Iq Current Command
IDN 34068 [1] = 1
Element 1: Iq Current Feedback
IDN 34068 [2] = 0
(not used)
IDN 34068 [3] = 0
(not used)
Step 2: Specify the sample period factor, for example:
IDN 34062 = 1
Log at Task0: 62.5µs / 62.5µs = 1
Step 3: Configure trigger, for example:
IDN 34064 = 34042
Use the Stimulus Status Word (IDN 34042) to trigger off
IDN 34065 = 3
Mask bits 0-1 of the Stimulus Status Word
IDN 34066 = 3
Compare to 3 (stimulus injection complete)
IDN 34067 = 0
Comparison type is “Equal To” (bits 4-6 = 000) and index into
IDN 34042 is 0 (bits 8-11 = 0000)
Step 4: Specify the number of pre-trigger samples, for example:
IDN 34063 = 2047
Entire buffer contains the data before the trigger event occurred
Step 5: Enable the drive data logger, for example:
IDN 34060 = 3
Drive Data Logger Procedure Command
