Servosila-Device-Reference-0xA020192

counter encoder. 0x5006,
0x02,
ro
2
SPI Encoder: count counts This is the latest ABSOLUTE POSITION reported by the encoder. UINT32,
0x5006,
0x03,
ro
3
SPI Encoder: is count valid 0 or 1 This bit tells if the latest absolute position is valid, meaning there is
no ERROR bit and no CRC error.
BOOL,
0x5006,
0x04,
ro
4
SPI Encoder: error bit 0 or 1 This is a value of latest ERROR bit reported by the encoder. BOOL,
0x5006,
0x05,
ro
5
SPI Encoder: warn bit 0 or 1 This is a value of latest WARN bit reported by the encoder. BOOL,
0x5006,
0x06,
ro
6
SPI Encoder: extracted
CRC
- This is a value of latest CRC field reported by the encoder. UINT16,
0x5006,
0x07,
ro
7
SPI Encoder: computed
CRC
- This is the latest CRC value computed by the controller. UINT16,
0x5006,
0x08,
ro
8
SPI Encoder: CRC
mismatch error
0 or 1 This bit is raised whenever CRC verification fails. BOOL,
0x5006,
0x09,
ro
9
SPI Encoder: CRC
mismatch counter
- This counter is increased each time CRC verification fails. UINT32,
0x5006,
0x0A,
ro
Telemetry - Peripheral: PWM Encoder
# Parameter Units Description CANopen
1
PWM Encoder: state - • 0: Undefined
• 1: No interrupts
• 2: Operational
• 3: Fault - No Pulse
• 4: Fault - PWM Duty Out of Range
UINT16,
0x5007,
0x02,
ro
2 PWM Encoder: sample
counter
- This counter is incremented each time a pair of pulses is sampled. UINT32,
0x5007,
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