Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
99
10
2. Specify the period between samples. The period must be a whole multiple of the fundamental sample
period of the drive (62.5µs). The factor is configured using P-0-1294 / 34062. Specifically:
For example, to log at:
a. Task0: IDN 34062
= 62.5µs / 62.5µs = 1
(current loop update period)
b. Task1: IDN 34062
= 250µs / 62.5µs = 4
(position / velocity loop update period)
c.
Task3: IDN 34062
= 4000µs / 62.5µs= 64
(CNC servo update period)
3. Configuring a trigger to control under what conditions the data log will cease. The trigger mechanism is
quite flexible; the general idea is that any variable within the SoE Profile can be selected as the trigger
variable, and the outcome of its comparison with a fixed value can be used to cease the data logging.
The data logger is pre-configured to allow only 2048 samples to be collected, but the trigger mechanism
allows the user to specify where within the 2048 samples the trigger level is to be detected. For
example, the user may wish to commence sampling when a variable exceeds a certain threshold, or
they may wish to log both prior to, and following a significant event, or they may wish to capture data
prior to a certain point. All of these approaches utilise a single configuration in the AMD2000.
The user begins by specifying the number of pre-trigger samples to log. The Drive Data Logger uses a
circular buffer to store data. The pre-trigger samples parameter (P-0-1295 / 34063) informs the logger
how many samples to keep prior to the trigger sample. In the following example, IDN 34063 is set to
500. This means that the buffers returned on completion of the data log will include 500 samples taken
immediately before the trigger event occurred and 1548 after (for a total of 2048 data points):
0
1
498
499
500
501
2046
2047
4.
The trigger variable’s IDN is specified in P-0-1296 / 34064, and the fixed value for comparison and
detection of the trigger event is specified in P-0-1298 / 34066. IDNs of many data types are supported,
see notes in the following table for limitations, but these include signed 16-bit (S16), unsigned 16-bit
(U16), signed 32-bit (S32) and unsigned 32-bit (U32). Several types of trigger comparison are
supported. These types can be configured via bits 4-6 of the Data Logger Control Word (P-0-1299 /
34067) as shown below.
Comparison
IDN 34067
(bits 4-6)
Pseudo Code
Notes
Equal To
000
*34064 == 34066
Not Equal To
001
*34064 != 34066
Greater Than
010
*34064 > 34066
Less Than
011
*34064 < 34066
Absolute Greater Than
100
abs(*34064) > 34066
only S16 & S32
Absolute Less Than
101
abs(*34064) < 34066
only S16 & S32
In addition, an optional bit mask (P-0-1297 / 34065) can be applied to the trigger variable to single out
and compare individual bits (see table below). This is useful if the trigger variable (as pointed at by the
IDN stored in IDN 34064) is a bitfield. Note that if IDN 34065 = 0 (zero), then this bit mask is disabled
so the comparison reverts to a direct
comparison between the trigger variable’s value (*34064) and the
fixed comparison value stored in IDN 34066.
Comparison
Pseudo Code
Notes
Equal To
(*34064 & 34065) == 34066
only U16 & U32
Not Equal To
(*34064 & 34065) != 34066
only U16 & U32
Greater Than
(*34064 & 34065) > 34066
only U16 & U32
Post-trigger Samples
Trigger Sample
Pre-trigger Samples
