Data Collection Parameters ACE User's Guide, 3.6.x 18316-000 Rev A Page 240 Parameter Description Acceleration Commanded Position Monitors the commanded position (in counts) for the selected motor. Commanded Velocity Monitors the commanded velocity (in counts/ms) for the selected motor. Current Loop Output Monitors the output of the 'PI' current loop for the selected motor. Current Loop Peak-To-Peak Output Monitors the peak output of the 'PI' current loop for the selected motor. DC Input Voltage Monitors the DC control voltage (in volts) for the selected motor. Duty Cycle Level Monitors the current value for the motor’s duty cycle. See Duty Cycle Limit and Peak Duty Cycle.
Duty Cycle Limit Specifies the maximum allowable value for the Duty Cycle. When Duty Cycle Level = Duty Cycle Limit, the robot is stopped to protect the motor. See Duty Cycle Level and Peak Duty Cycle. Encoder Pos- ition Monitors the actual position (in counts) for the selected motor. Encoder Tem- perature Monitors the encoder temperature (in degrees C) for the selected motor. Encoder Velo- city Monitors the actual velocity, in counts/ms, for the selected motor. E-Stop Status Monitors the E-stop status register for the selected motor. Index Delta Monitors the index delta (last index position minus previous index position), in counts, for the selected motor.
Last Motion Settling Time Monitors the motor settling time (in milliseconds) of the last motion completed for the selected motor. Latched Errors Monitors the latched error bit mask for the selected motor. For possible values