Faulhaber MC 5010, Руководство по связи, Страница: 31 / 43

4 Trace
15-04-2016 31 7000.05052
4 Trace
The trace function allows recording up to 4 parameters of the controller. A trigger source
is available for this in the object dictionary. This allows selection of a maximum of 4
signal sources. Two different types of recording are available:

Trace recorder: The parameter values are written to an internal buffer and can then
be read (see chap. 4.1, p. 31).

Trace logger: On request the parameter values are requested and read continuously
(see chap. 4.2, p. 35).
The FAULHABER Motion Manager provides a user-friendly means of setting and
evaluating the trace functions.
4.1 Trace recorder
The configuration and reading of data with the trace recorder is performed via the SDO.
The trace recorder is configured using the object 0x2370 in the OD.
The recorded data are read using the segmented SDO upload protocol. The object 0x2371
is available in the OD for this purpose (see chap. 4.1.2, p. 33).
4.1.1 Trace settings
The object 0x2370 is available for configuration of the trace recorder. The data sources to
be recorded, the buffer size, the resolution and the trigger conditions can be set here.
Tab. 35: Trace configuration (0x2370)
Index Subindex Name Type Attr. Default value Meaning
0x2370 00 Number of
entries U8 ro 11 Number of object entries
01 Trigger source U32 rw 0 Trigger source for the trigger type
“Threshold” (see below)
02 Trigger
threshold S32 rw 0 Trigger threshold
03 Trigger delay S32 rw 0 Trigger delay (see below)
04 Trigger mode U16 rw 0 Trigger type (see below)
05 Buffer size U16 rw 100 Length of the buffer in sampling values.
06 Sample time U8 rw 1
Sampling rate of the recording in
multiples of the controller sampling
time
07 Source 1 U32 rw 0
1st parameter to be recorded (see
below)
08 Source 2 U32 rw 0
2nd parameter to be recorded (see
below)
09 Source 3 U32 rw 0 3rd parameter to be recorded (see
below)
0A Source 4 U32 rw 0 4th parameter to be recorded (see
below)