Monitor

All important parameters are displayed.

Additionally, you can see the value of 3 parameters. Fill in the ASCII names of the parameters of macro variables (with leading M) you want to see.

Drive-I²t-Load	The actual effective load is shown as % of the preset amplifier's effective current Irms.
Motor-I²t-Load	The actual effective load is shown as % of the preset motor's standstill current Io.
Effective Current	This shows the value (in A) of the actual current indication (r.m.s. value, always positive).
D Component	Shows the value (in A) of the current D-component (Id, reactive current) of the current indication.
Q Component	Shows the value (in A) of the current Q-component (Iq, active current) of the current indication. The sign that is displayed is negative in regenerative operation (motor under braking).
Bus Voltage	The DC-link (DC-bus) voltage produced by the amplifier is shown in V.
Regen Power	The mean value (calculated during 30s) of the regenerative power is shown in W.
Electrical Power	Current electrical power at the motor terminals P
Mechanical Power	Current mechanical power et the motor shaft PMECH
Power consumption	Current electrical power consumption
Heat Sink Temperature	The temperature of the heat sink in the servo amplifier is shown in °C.
Internal Temperature	The temperature inside the servo amplifier is shown in °C.
Motor Thermistor Resistance	The actual resistance in ohms is shown, if a PTC resistor is used in the motor winding. The value can be used to calculate the actual motor winding temperature. If a thermo switch is used, absolute temperature cannot be evaluated.
Angle of Rotation	Displays the actual angle of rotation of the rotor in "°mech" or in "counts" referred to the mechanical zero point of the measuring system. Indicated is the absolute position within one turn of the motor axis. The dimension "counts" is a hexadecimal number with 20 bits accuracy (that means : 1 turn = 2²⁰-1 counts)
Actual Velocity	Displays the actual rotational speed of the motor in rpm.
Velocity Command	Displays the currently set speed in rpm.
Position	Shows the momentary position in user units.
Following Error	Shows the momentary following error in user units.
User-defined Variables to monitor	You can see the value of 3 parameters. Fill in the ASCII names of the parameters you want to see.
Analog Inputs	Displays the actual voltages (in mV) at the setpoint inputs.
Analog Outputs	Displays the actual voltages (in mV) at the analog outputs. Visible only with installed expansion card PosI/O-Monitor.
Digital Inputs/Outputs	Displays the actual voltages (in mV) at the setpoint inputs.
Additional Inputs/Outputs	The conditions of inputs 5-20 and outputs 3-18 are displayed. Depending on the existing hardware configuration, these I/O's are assigned to either the I/O expansion card or the virtual software I/O's (for assignment see additional digital Inputs / Outputs).

Usable Macro Variables (selection, insert with leading M to the input field):

Makro Variable (selection)	Short Description
ERRCODE	Error state variable (see ERRCODE)
STATCODE	Drive state variable (see STATCODE)
TRJSTAT	Trajectory state variable (see TRJSTAT)
ADVAL0…15	Analog input values
ADVAL0	Cosine resolver
ADVAL1	Sine Resolver
ADVAL2	Motor current Ia
ADVAL3	Motor current Ib
ADVAL4	Sine Encoder
ADVAL5	Cosine Encoder
ADVAL6	Analog setpoint 1
ADVAL7	Analog setpoint 2
ADVAL8	Motor temperature
ADVAL9	Heatsink temperature
ADVAL10	Environments temperature
ADVAL11	Sense voltage encoder
ADVAL12	n.c.
ADVAL13	DC bus link voltage
ADVAL14	n.c.
ADVAL15	n.c.
SIENC	Normalised sine encoder +/- 1350 <> 1Vss
COENC	Normalised cosine encoder +/- 1350 <> 1Vss
SR_RXDE	Zero pulse port for NREF = 5
SR_HALL	Hall segments port
PFBL	Position Feedback 64 Bit size. The lower 32 bits includes the position within a revolution, the upper 32 bits counts the number of revolutions.
S_SETL	Position setpoint 64 Bit size. The lower 32 bits includes the position within a revolution, the upper 32 bits counts the number of revolutions.
PFB	Position Feed back(PRBASE size)
S_SET	Position setpoint (PRBASE size)
S_SETH	Sercos position setpoint (1 Revolution = 2^20)
PTARGET	Target position for the last/current motion task (PRBASE size)
PSPEED	Actual velocity setpoint in counts/250µsec
PSPEEDMS	Actual velocity setpoint in counts/250µsec for master/slave trajectory
PSPEED3	Actual velocity setpoint for internal motion task trajectory
PENDSPEED	End velocity setpoint for the actual motion task
MOVEP_NR	Number of the last/actual motion task
NIZFLAG	State of the external zero pulse
PSTOP	State of the PSTOP limit switch
NSTOP	State of the NSTOP limit switch
INPUT1…20	State of the hardware/software input 1…20
OUTPUT1...18	State of the hardware/software output 1..18
HARDENA	State of the hardware enable
EN_P_I	State of the power stage (1=enabled, 0=disabled)
NET_BTBI	State of the net BTB
ENABLE_I	State of the internal enable signal
SOFTENABLE	State of the software enable
EN_BRAKE_I	Brake state (1=open, 0=closed)
PRD	Feedback position inside one revolution
IVORCMD	Current feed forward (3280 = DIPEAK)
PBAL	Regenerative power actual value
SR5VINCR	Pulse counter for X5 Master / Slave (5V)
SR24VINCR	Pulse counter for X3 Master / Slave (24V)

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