Lists of variables

This section shows the variables employed exclusively by Veronte MC01. The rest of variables can be read in the Lists of variables section of 1x Software Manual.

BIT Variables

ID

Name

Description

400

C1 Low Frequency

Low priority task frequency - Dependent on CIO Running Frequency (RVar 2057)

  • 0 for error \(\rightarrow\) CIO Running Frequency < 10 Hz

  • 1 for OK \(\rightarrow\) CIO Running Frequency > 10 Hz

402

Acquisition step missed

  • 0 for Acquisition step missed \(\rightarrow\) High priority task frequency fluctuation is higher than permitted (1%).

  • 1 for Acquisition Task OK \(\rightarrow\) High priority task frequency fluctuation is under set limits (1%).

480

MC01 Stepper direction output

0 for error, 1 for OK

481

MC01 Brushless driver fault

0 for error, 1 for OK

484

MC General health error

0 for health error, 1 for status OK

Real Variables (RVar) - 32 Bits

ID

Name

Units/Values

Description

2057

CIO Running Frequency

Hz

Low priority task running frequency

2058

CIO Min Running Frequency

Hz

Minimum assured frequency of low priority task

2330

Control Loop Period

s

MC control loop period

2331

Control Loop Maximum Period

s

MC maximum control loop period

2332

Control Loop Duration

s

MC control loop average execution time

2333

MC Control Loop Maximum Duration

s

MC control loop maximum execution time

2334

Control Loop CPU Usage Ratio

%

MC CPU usage ratio

2335

MC Control Loop Maximum CPU Usage Ratio

%

MC maximum CPU usage ratio

2336

MC U Phase Current

-

Output current through phase U

2337

MC V Phase Current

-

Output current through phase V

2338

MC W Phase Current

-

Output current through phase W

2339

MC Electrical Angle

rad

MC electrical angle

2340

MC01 Mechanical Angle

rad

MC01 mechanical angle

2341

MC Mechanical Angular Speed

rad/s

MC mechanical angular speed

2342

MC01 Desired Mechanical Angle

rad

MC01 desired mechanical angle

2343

MC01 Position Controller Output

rad/s

MC01 position PDI output

2344

MC Desired Mechanical Angular Speed

rad/s

MC desired mechanical angular speed

2345

MC Desired Mechanical Angular Speed After Speed Limiter

rad/s

MC desired mechanical angular speed after speed limiter

2346

MC Speed Controller Output

-

MC speed PDI output

2347

MC Alpha Current

-

MC alpha current after Clarke transformation

2348

MC Beta Current

-

MC beta current after Clarke transformation

2349

MC Actual Direct Current

-

MC actual direct current

2350

MC Actual Quadrature Current

-

MC actual quadrature current

2351

MC Desired Direct Current

-

MC desired direct current

2352

MC Desired Quadrature Current

-

MC desired quadrature currents

2353

MC Direct Voltage From Controller Output

-

MC current PID output

2354

MC Quadrature Voltage From Controller Output

-

MC current PID output

2355

MC Alpha Voltage From Current Controller Output

-

MC Clarke alpha current

2356

MC Beta Voltage From Current Controller Output

-

MC Clarke beta current

2357

MC01 Desired Clarke Alpha Current

-

MC01 desired Clarke alpha current

2358

MC01 Desired Clarke Beta Current

-

MC01 desired Clarke beta current

2359

MC01 U Phase Space Vector Generator Output

-

MC01 phase time constant

2360

MC01 V Phase Space Vector Generator Output

-

MC01 phase time constant

2361

MC01 W Phase Space Vector Generator Output

-

MC01 phase time constant

2362

MC U Phase PWM Duty Cycle

%

MC PWM output for phase U

2363

MC V Phase PWM Duty Cycle

%

MC PWM output for phase V

2364

MC W Phase PWM Duty Cycle

%

MC PWM output for phase W

2365

MC01 Encoder Raw Angle

rad

MC01 encoder raw measured angle

2366

MC01 Stepper Output Frequency

Hz

MC01 stepper output frequency

2367

MC Mechanical Angle Error

rad

MC mechanical angle error

2368

MC U Phase BEMF

-

MC U phase electromechanical force

2369

MC V Phase BEMF

-

MC V phase electromechanical force

2370

MC W Phase BEMF

-

MC W phase electromechanical force

Note

Variables with “-” unit are dimensionless and normalized.