List of Variables

This section shows the variables employed exclusively by Veronte MC110. The rest of variables can be read in the Lists of Variables - Lists of interest section of 1x Software Manual.

BIT Variables

ID Name Description
4 No Writing Telemetry Telemetry is properly sending/receiving - 0 for no, 1 for yes
6 File System ERROR System file manager - Dependent on File system status (UVar 96)

  • 0 for Error: if File system status > 0
  • 1 for running OK: if File system status == 0
7 System ERROR This bit checks whether the system is running properly. 0 for system error, 1 for system OK
8 Memory allocation ERROR RAM allocation - 0 for Error, i.e. trying to use more than available memory, 1 for memory allocation ok
9 PDI ERROR PDI files - Dependent on PDI error source (UVar 50)

  • 0 for wrong PDI configuration: if PDI Error Source > 0
  • 1 for running OK: if PDI Error Source == 0
12 System Power Up ERROR Power up - 0 for Error, 1 for OK
16 Stack C1 usage FAIL 0 for Fail, i.e. stack overflow of Core 1, 1 for OK
400 C1 Low Frequency Fail C1 Low Frequency - Dependent on CIO Running Frequency (RVar 2057) (C1 low frequency)

  • 0 for Fail → CIO Running Frequency < 10 Hz
  • 1 for OK → CIO Running Frequency > 10 Hz
402 Acquisition Step Missed
  • 0 for Acquisition step missed → C1 hi frequency fluctuation is higher than permitted (1%).
  • 1 for Acquisition Task OK → C1 hi frequency fluctuation is under set limits (1%).
406 CPU2 low priority task error 0 for Error, 1 for OK
480 MC01 Stepper direction output ERROR 0 for Error, 1 for OK
481 MC01 Brushless driver fault 0 for driver fault, 1 for driver OK
482 MC Hall Sensor ERROR 0 for Error, 1 for OK
483 MC Sin/Cos Sensor ERROR 0 for Error, 1 for OK
484 MC General health ERROR 0 for health Error, 1 for status OK
485 MC Current sensing ERROR 0 for Error, 1 for OK
486 MC Phase U Current Calibration ERROR ADC phase U calibration status - 0 for not calibrated, 1 for calibration OK
487 MC Phase V Current Calibration ERROR ADC phase V calibration status - 0 for not calibrated, 1 for calibration OK
488 MC Phase W Current Calibration ERROR ADC phase W calibration status - 0 for not calibrated, 1 for calibration OK
489 MC Maximum Temperature ERROR Maximum power module temperature exceeded - 0 for Error (exceeded), 1 for OK
490 MC Phase ERROR Power module driver phase error reported - 0 for Error, 1 for OK
491 MC General Driver ERROR Power module driver error reported - 0 for Error, 1 for OK
492 MC Over-current AC Current AC side limit exceeded - 0 for Error (exceeded), 1 for OK
493 MC Over-voltage Advertisement Over-voltage DC side limit advertisement exceeded - 0 for Error (exceeded), 1 for OK
494 MC Over-voltage Caution Over-voltage DC side limit caution exceeded - 0 for Error (exceeded), 1 for OK
495 MC Under-voltage Latching Critical under-voltage DC side limit violation - 0 for Error, 1 for OK
496 MC Under-voltage ON Latching Non critical under-voltage DC side limit violation - 0 for Error, 1 for OK
497 MC RMS imbalance Current AC side imbalance - 0 for Error, 1 for OK
498 MC Open DC fault Open-circuite DC side fault - 0 for Error, 1 for OK
499 MC Over-current DC Current DC side limit exceeded - 0 for Error (exceeded), 1 for OK
732-733 Phase U-W ERROR 0 for Error, 1 for OK
734 HW DC link ERROR 0 for Error, 1 for OK
735-736 HW over-current AC-DC ERROR 0 for Error, 1 for OK
737 HW Ground Fault Detection ERROR 0 for HW Ground Fault Detection Error, 1 for HW Ground Fault Detection OK
738 HW Power Regulator ERROR 0 for HW Power Regulator error, 1 for HW Power Regulator OK
739 HW trip PWM ERROR 0 for HW general error to trip PWM, 1 for HW general to trip PWM OK
740 Disconnected HW battery 0 for Battery disconnected, 1 for Battery connected
741 DC current calibration ERROR 0 for DC current calibration Error, 1 for DC current calibration OK
742 Estimation Position ERROR 0 for estimation position Error, 1 for estimation position OK
743 Speed reference tracking ERROR 0 for speed reference tracking Error, 1 for speed reference tracking OK
744 Positon Sensor ERROR 0 for position sensor Error, 1 for position sensor OK
745-746 SIN/COS 1-2 Calibration ERROR 0 for SIN/COS calibration Error, 1 for SIN/COS calibration OK
747 Low energy ERROR Battery voltage status in low state - 0 if the battery voltage is in a low state for a prolonged period of time, 1 if the battery voltage is in a low state during an acceptable period of time.
748 RPM Command Message Error RPM Command Message status - 0 for RPM command message timed-out, 1 for RPM Command Message OK.
757 A temperature sensor error was detected Motor temperature sensor status - 0 if an error is detected in the motor temperature sensor, 1 if the motor temperature sensor is OK.


Real Variables (RVar) - 32 bits

ID Name Units/Values Description
51 CAN-B Tx Rate pkts/s CAN-B transmission packet rate
53 CAN-B Tx skip Rate pkts/s CAN-B messages delayed because no mailbox is available for sending
54 CAN-FD-A Tx rate pkts/s CAN-FD-A transmission packet rate
55 CAN-FD-A Tx skip rate pkts/s CAN-FD-A messages delayed because no mailbox is available for sending
300 Relative Timestamp s Time spent since power-on of the system
400 Power Input V Voltage received by Veronte
1450 Captured Pulse 0 customType Input values from pulses
2048 Acquisition Task Maximum Timestep s Maximum period to execute the acquisition thread
2051 Acquisition Task Maximum CPU Ratio % Maximum % of CPU time spent in the acquisition thread
2057 CIO Running Frequency Hz C1 low priority task running frequency
2058 MC CIO Min Running Frequency Hz Minimum assured frequency of low priority task
2092 CPU2 Low priority current frequency Hz Current operating frequency of CPU2 low priority tasks
2093 CPU2 Low priority min frequency Hz Minimum assured frequency of CPU2 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 average 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
2336-2338 MC U-V-W Phase Current A MC U-V-W phase current
2339 MC Electrical Angle rad MC electrical angle
2340 MC01 Mechanical Angle rad MC mechanical angle
2341 MC Mechanical Angular Speed rad/s MC mechanical angular speed
2342 MC01 Desired Mechanical Angle rad MC desired mechanical angle
2343 MC01 Position Controller Output rad/s MC 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 A MC speed PDI output
2347-2348 MC Alpha-Beta Current A MC alpha-beta current after Clarke transformation
2349-2350 MC Actual Direct-Quadrature Current A MC actual direct-quadrature currents
2351-2352 MC Desired Direct-Quadrature Current A MC desired direct-quadrature currents
2353-2354 MC Direct-Quadrature Voltage From Controller Output V MC direct-quadrature voltage from PIDs outputs
2355-2356 MC Alpha-Beta Voltage From Current Controller Output V MC Alpha-Beta voltage from current controller output
2357-2358 MC01 Desired Clarke Alpha-Beta current customType MC01 desired Clarke alpha-beta currents
2359-2361 MC01 U-V-W Phase Space Vector Generator Output customType MC01 phase time constants
2362-2364 MC U-V-W Phase PWM Duty Cycle % MC U-V-W Phase PWM duty cycle outputs
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
2368-2370 MC U-V-W Phase BEMF V MC U-V-W phase electromechanical force
2371 MC Input Current DC side A DC bus current
2372 MC Input Normalized Command Speed customType Speed input rate from source (CAN or PWM)
2373-2374 MC ADC in 0-1 V
Note
System reserved Variables
2375 MC Logic Board Temperature K Board temperature
2376 MC Power Module Temperature K IGBT filtered temperature
2377 MC Motor Temperature K Motor temperature
2378 MC Input Voltage DC side V DC bus voltage
2381 MC Virtual and estimator angle difference rad Angle offset value from estimated and commanded angle to close control loop
2382 MC Low speed estimator angle rad Low speed observer estimated angle
2383 MC High speed estimator angle rad High speed observer estimated angle
2384 MC Low speed estimator speed rad/s Low speed observer estimated mechanical speed
2385 MC High speed estimator speed rad/s High speed observer estimated mechanical speed
2386 String DC current A String direct current (DC)

Integer Variables (UVar) - 16 bits

ID Name Description
50 PDI error source Index for PDI error source identification.
For further information, consult the List of PDI errors - 1x Software Manual
95 UAV hardware adress UAV address
96 File system status State error for DFS2 FS
For further information, consult the List of File System Errors - 1x Software Manual
454-456 CAN to Serial 0-2 frames dropped Lost messages during CAN to Serial transformations
495-496 Global configuration state (crc) of files-memory (Higher-Lower 16 bits) Global configuration state (crc) of files and memory
498-499 Global configuration state (crc) of files-memory Global configuration state (crc) of files and memory
800 MC Fault Id Index of the MC error

Warning
Deprecated variable
801 MC Input Control Mode Index of the MC control input mode:

  • 1: PPM
  • 2: CAN
  • 3: both modes active (CAN priority)
802 MC Actual Control Machine State State of motor controller:

  • 0: Motor stop and driver disabled
  • 1: Calibration of ADC reading
  • 2: Initial alignment procedure
  • 3: Open loop procedure
  • 4: Speed mode
2000 Uvar Disabled
Warning
Variable for internal use

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