Registers to monitor the motor current, measured speed, health status, and fault status?

Power Solutions Motor Control & Drive Solutions
1

What are some monitoring tips for customers using the PAC_FOC_V4.4.2 version of the firmware.
What are the registers where I can read the motor current, measured speed, health status, and fault status?

2

Hi Brad,

Thanks for the question!

Here is speed, status, faults, current variables that you may read:

Speed:
In the document UART_ParameterList.pdf variable: estimated_speed
FW File: comm_struct.h; Variable: estimated_speed (in rad/second)
(variable updated at:
FW File: param_read.c; Variable: mpos.mpos_spd_radps)

(Note: If the motor is stopped, because the previous variable is not reset until the motor is reenabled, you will read a non zero speed. For this reason you may see the speed even though the motor is disabled. In this case please read ‘motor_ptr->mpos.est.est_spd_radps’.)
*
Fault:
In the document UART_ParameterList.pdf variable: fault_warning:
FW File: comm_struct.h; Variable: fault_warning
FW Fault definitions: fault_struct.h; typedef enum {…} eFaultMotor
*
Status:
In the document UART_ParameterList.pdf variable: status_motor
FW File: comm_struct.h; Variable: status_motor
FW Fault definitions: status_struct.h; typedef enum {…} eStatusMotor
*
Current:
In the document UART_ParameterList.pdf variable: not listed
FW File: comm_struct.h; Variable: id_fdbk
FW File: debug_export.c; Variable: app.descale_current_factor
Current (A) = App.descale_current_factor*iq_fdbk

I hope that helps!