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Faulhaber MC 5010 Communications Manual
Also see for MC 5004: Programming manualCommunications manualTechnical manual
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4th edition, 9-11-2018 7000.05050, 4th edition, 9-11-20187000.05050Trace364 TraceThe trace function allows recording up to 4 parameters of the controller. A trigger source isavailable for this in the object dictionary. This allows selection of a maximum of 4 signalsources. Two different types of recording are available: Trace recorder: The parameter values are written to an internal buffer and can then beread (see chap. 4.1, p. 36). Trace logger: On request the parameter values are requested and read continuously(see chap. 4.2, p. 39).4.1 Trace recorderThe 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 isavailable in the OD for this purpose (see chap. 4.1.2, p. 38).4.1.1 Trace settingsThe object 0x2370 is available for configuration of the trace recorder. The data sources tobe recorded, the buffer size, the resolution and the trigger conditions can be set here.Tab. 15: Trace Configuration (0x2370)The FAULHABER Motion Manager provides a user-friendly means of setting and evalu-ating the trace functions.Index Subindex Name Type Attr. Default value Meaning0x2370 0x00 Number ofEntriesU8 ro 10 Number of object entries0x01 Trigger Source U32 wo 0 Trigger source0x02 Trigger Thresh-oldS32 rw 0 Trigger threshold0x03 Trigger DelayOffsetS16 rw 0 Trigger delay0x04 Trigger Mode U16 rw 0 Trigger mode0x05 Buffer Length U16 rw 100 Buffer length0x06 Sample Time U8 rw 1 Recording sampling rate1: in every sampling step0x07 Trace Source ofChannel 1U32 wo 0 Trace source of channel 10x08 Trace Source ofChannel 2U32 wo 0 Trace source of channel 20x09 Trace Source ofChannel 3U32 wo 0 Trace source of channel 30x0A Trace Source ofChannel 4U32 wo 0 Trace source of channel 4 |
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