Data Collection Parameters ACE User's Guide, 3.6.x, 18316-000 Rev A Page 241 Parameter Description and their descriptions, see the topic MotorLatchedErrorBits Enumeration in the ACE API Documentation Help file. You can access this file by selecting Help > ACE API Reference from the ACE software menu. Output Level Monitors the output level, typically a torque command between -32768 and 32767, for the selected motor. Peak Duty- Cycle Monitors the largest Duty Cycle value that has been reached since the last con- troller boot. This allows you to see if the robot is approaching the Duty Cycle Limit. See Duty Cycle Level and Duty Cycle Limit.
Position Error Monitors the position error (commanded position minus actual encoder pos- ition), in counts, for the selected motor. Servo Status Monitors the servo status bit mask for the selected motor. For possible values and their descriptions, see the topic MotorStatusBits Enumeration in the ACE API Documentation Help file. You can access this file by selecting Help > API Reference from the ACE software menu. Unlatched Errors Monitors the unlatched error bit mask for the selected motor. For possible values and their descriptions, see the topic MotorUnlatchedErrorBits Enumeration in the ACE API Documentation Help file.
You can access this file by selecting Help > API Reference from the ACE software menu. V+ Command V+ command code. Valid commands are: 0: Current mode. Arg: DAC output. l 1: Free mode. Arg: DAC output. l 2: Position mode. Arg: Scaled position command. l 3: Set position. Arg: Scaled position. l 4: Amp command. Arg: 1 to enable, 0 to disable. l 5: Cal mode. Arg: None. l 7: Adjust position. Arg: Scaled position offset. l 8: Clear latched errors. Arg: Bit mask to clear. l 9: Drive motor. Arg: Scaled position. l 0xF: NOP. Arg: None. l 0x10: High power. Arg: 1 to turn on, 0 to turn off. l 0x11: Brake rel. Arg: 1 to release, 0 to engage. l