After dragging a Data Object from the Object Editor and dropping it on the configuration table, you can use the following fields to configure the data processing within the Scope module.
Sampling and Rate
This defines how the values for the data logging and scope are obtained.
Sampling |
Description |
Off |
Sampling is disabled or inactive |
Software |
Kickdrive sends out SDO Upload requests to the node, using the fixed time interval of Rate milliseconds. |
TPDO<no>.<byteStart>.<size> |
The object is available through Transmit PDO <no> (1..4). Within the PDO frame, the data required starts at byte position <byteStart> (0..7) and is <size> (1, 2, or 4) bytes large. Example: TPDO3.0.2 (The value is a 16-bit value obtained from the first two bytes of Transmit PDO 3) |
RPDO<no>.<byteStart>.<size> |
Same as TPDO, but for Receive PDO |
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Notice The TPDO and RPDO methods are passive sampling methods. They do not perform the actual device PDO configuration (PDO mapping) and do not change the CAN node state using NMT. They are safe to use within a running CANopen application. |
Scaling
Allows scaling and processing the raw data values. You can use a simple factor or more complex formulas, including offsets or even non-linear transformations. Examples:
Scaling |
Description |
0.25 |
Scale the value by 0.25 (i.e. the displayed value is four times smaller than the raw data value) |
100 |
Scale the value by 100 (i.e. the displayed value is multiplied by 100) |
= x / 65536 + 10 |
Divide raw data value by 65536, then add 10 |
= 1 / x |
Non-linear expressions like this are possible, too. However, watch out for invalid results, e.g. "division by zero". Kickdrive will display these values as "0" |
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Notice The scaling is only applied to the displayed value, not to the recorded raw data. This means you can apply a different scaling expression at a later point (when loading the data using Open), or to rescale all data "on the fly". |
