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The Motorcortex Generic App contains a Alarms tab where signal levels can be defined to and trigger a
Alarms can be enabled or disabled per axis by using the
enable switch. By monitoring the value of an input signal a Warning or an Emergency Stop can be triggered. There are four trigger levels:
|Too Low||If the input signal is less than the
|Low||If the input signal is less than the
|High||If the input signal is higher than the
|Too High||If the input signal is higher than the
The following signals can be monitored:
The PositionWindow monitors the absolute position of each axis.
The TrackingErrorWindow monitors the tracking error of each axis, the difference between the commanded position and the actual position.
The VelocityWindow monitors the velocity of each axis. The axis velocity is calculated by differentiating (and low-pass filtering) the position signal.
The AccelerationWindow monitors the acceleration of each axis. The axis acceleration is calculated by differentiating (and low-pass filtering) the position signal twice.
The TorqueWindow monitors the torque of each axis.
The JumpDetector detects is there is a large jump in the commanded position signal. It looks at the difference between the current set point and the previous set point sample.