How can I monitor the voltage output sent to each servo axis programmatically?

Hi I am wondering if it is possible to monitor the voltage that's being sent to a servo motor during an axis position movement (in particular quantities such as max voltage). I am using a PID controller to drive this servo motor.
Thanks
Vlad

Hi Vlad,
Unfortunately, I don't think there is a way to programmatically read the voltage output to the drive, as the voltage is all determined internally by the controller circuitry on the board. Depending on the controller though, you may be able to physically route the output terminal to a spare analog input channel and read in the voltage that way. This example Analog Input with 73xx Motion Card shows you how to program LabVIEW to do this.

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My query is how can we send the smart form output to mail.
In my company,payslip are given to the employee in printed format.instead of that we need to send payslip in mail.how can i do..plz help me.
[email protected]

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*& Report ZSPOOLTOPDF2                                                *
*& Converts spool request into PDF document and emails it to           *
*& recipicant.                                                         *
*& Execution                                                           *
*& This program can be run in background or online and a spool request *
*& will still be created                                               *
REPORT zspooltopdf2.
PARAMETER: p_email1 LIKE somlreci1-receiver
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           p_sender LIKE somlreci1-receiver
                                    DEFAULT '[email protected]',
           p_delspl AS CHECKBOX,
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*DATA DECLARATION
DATA: gd_recsize TYPE i.
Spool IDs
TYPES: BEGIN OF t_tbtcp.
        INCLUDE STRUCTURE tbtcp.
TYPES: END OF t_tbtcp.
DATA: it_tbtcp TYPE STANDARD TABLE OF t_tbtcp INITIAL SIZE 0,
      wa_tbtcp TYPE t_tbtcp.
Job Runtime Parameters
DATA: gd_eventid LIKE tbtcm-eventid,
      gd_eventparm LIKE tbtcm-eventparm,
      gd_external_program_active LIKE tbtcm-xpgactive,
      gd_jobcount LIKE tbtcm-jobcount,
      gd_jobname LIKE tbtcm-jobname,
      gd_stepcount LIKE tbtcm-stepcount,
      gd_error    TYPE sy-subrc,
      gd_reciever TYPE sy-subrc.
DATA: w_recsize TYPE i,
       w_spool_nr like sy-spono.
      %_print LIKE pri_params.
DATA: gd_subject   LIKE sodocchgi1-obj_descr,
      it_mess_bod LIKE solisti1 OCCURS 0 WITH HEADER LINE,
      it_mess_att LIKE solisti1 OCCURS 0 WITH HEADER LINE,
      gd_sender_type     LIKE soextreci1-adr_typ,
      gd_attachment_desc TYPE so_obj_nam,
      gd_attachment_name TYPE so_obj_des.
Spool to PDF conversions
DATA: gd_spool_nr LIKE tsp01-rqident,
      gd_destination LIKE rlgrap-filename,
      gd_bytecount LIKE tst01-dsize,
      gd_buffer TYPE string.
Binary store for PDF
DATA: BEGIN OF it_pdf_output OCCURS 0.
        INCLUDE STRUCTURE tline.
DATA: END OF it_pdf_output.
CONSTANTS: c_dev LIKE sy-sysid VALUE 'DEV',
           c_no(1)     TYPE c   VALUE ' ',
           c_device(4) TYPE c   VALUE 'LOCL'.
*START-OF-SELECTION.
START-OF-SELECTION.
Write statement to represent report output. Spool request is created
if write statement is executed in background. This could also be an
ALV grid which would be converted to PDF without any extra effort
WRITE 'Hello World'.
new-page.
commit work.
new-page print off.
If p_online = 'X'.
Processing performed when program calls itself when run online
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endif.
IF sy-batch EQ 'X'.
    PERFORM get_job_details.
    PERFORM obtain_spool_id.
ELSE.
    gd_spool_nr = sy-spono.
If executed online, it submits a program to perform the write statements
instructing it to create a spool request, this could be another program
which just performs the write statements and then exports sy-spono
to memory. But in this example it calls itself passing X to parameter
p_online, which takes it down an alternative procesing path.
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           with p_online = 'X'
           to sap-spool
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          archive parameters %_print
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ENDIF.
Get spool id from program called above
IMPORT gd_spool_nr FROM MEMORY ID 'SPOOLTOPDF'.
PERFORM convert_spool_to_pdf.
PERFORM process_email.
if p_delspl EQ 'X'.
    PERFORM delete_spool.
endif.
IF sy-sysid = c_dev.
    wait up to 5 seconds.
    SUBMIT rsconn01 WITH mode   = 'INT'
                    WITH output = 'X'
                    AND RETURN.
ENDIF.
      FORM obtain_spool_id                                          *
FORM obtain_spool_id.
CHECK NOT ( gd_jobname IS INITIAL ).
CHECK NOT ( gd_jobcount IS INITIAL ).
SELECT * FROM tbtcp
                 INTO TABLE it_tbtcp
                 WHERE      jobname     = gd_jobname
                 AND        jobcount    = gd_jobcount
                 AND        stepcount   = gd_stepcount
                 AND        listident   <> '0000000000'
                 ORDER BY   jobname
                            jobcount
                            stepcount.
READ TABLE it_tbtcp INTO wa_tbtcp INDEX 1.
IF sy-subrc = 0.
    message s004(zdd) with gd_spool_nr.
    gd_spool_nr = wa_tbtcp-listident.
    MESSAGE s004(zdd) WITH gd_spool_nr.
ELSE.
    MESSAGE s005(zdd).
ENDIF.
ENDFORM.
      FORM get_job_details                                          *
FORM get_job_details.
Get current job details
CALL FUNCTION 'GET_JOB_RUNTIME_INFO'
       IMPORTING
            eventid                 = gd_eventid
            eventparm               = gd_eventparm
            external_program_active = gd_external_program_active
            jobcount                = gd_jobcount
            jobname                 = gd_jobname
            stepcount               = gd_stepcount
       EXCEPTIONS
            no_runtime_info         = 1
            OTHERS                  = 2.
ENDFORM.
      FORM convert_spool_to_pdf                                     *
FORM convert_spool_to_pdf.
CALL FUNCTION 'CONVERT_ABAPSPOOLJOB_2_PDF'
       EXPORTING
            src_spoolid              = gd_spool_nr
            no_dialog                = c_no
            dst_device               = c_device
       IMPORTING
            pdf_bytecount            = gd_bytecount
       TABLES
            pdf                      = it_pdf_output
       EXCEPTIONS
            err_no_abap_spooljob     = 1
            err_no_spooljob          = 2
            err_no_permission        = 3
            err_conv_not_possible    = 4
            err_bad_destdevice       = 5
            user_cancelled           = 6
            err_spoolerror           = 7
            err_temseerror           = 8
            err_btcjob_open_failed   = 9
            err_btcjob_submit_failed = 10
            err_btcjob_close_failed = 11
            OTHERS                   = 12.
CHECK sy-subrc = 0.
Transfer the 132-long strings to 255-long strings
LOOP AT it_pdf_output.
    TRANSLATE it_pdf_output USING ' ~'.
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ENDLOOP.
TRANSLATE gd_buffer USING '~ '.
DO.
    it_mess_att = gd_buffer.
    APPEND it_mess_att.
    SHIFT gd_buffer LEFT BY 255 PLACES.
    IF gd_buffer IS INITIAL.
      EXIT.
    ENDIF.
ENDDO.
ENDFORM.
      FORM process_email                                            *
FORM process_email.
DESCRIBE TABLE it_mess_att LINES gd_recsize.
CHECK gd_recsize > 0.
PERFORM send_email USING p_email1.
perform send_email using p_email2.
ENDFORM.
      FORM send_email                                               *
--> p_email                                                       *
FORM send_email USING p_email.
CHECK NOT ( p_email IS INITIAL ).
REFRESH it_mess_bod.
Default subject matter
gd_subject         = 'Subject'.
gd_attachment_desc = 'Attachname'.
CONCATENATE 'attach_name' ' ' INTO gd_attachment_name.
it_mess_bod        = 'Message Body text, line 1'.
APPEND it_mess_bod.
it_mess_bod        = 'Message Body text, line 2...'.
APPEND it_mess_bod.
If no sender specified - default blank
IF p_sender EQ space.
    gd_sender_type = space.
ELSE.
    gd_sender_type = 'INT'.
ENDIF.
Send file by email as .xls speadsheet
PERFORM send_file_as_email_attachment
                               tables it_mess_bod
                                      it_mess_att
                                using p_email
                                      'Example .xls documnet attachment'
                                      'PDF'
                                      gd_attachment_name
                                      gd_attachment_desc
                                      p_sender
                                      gd_sender_type
                             changing gd_error
                                      gd_reciever.
ENDFORM.
      FORM delete_spool                                             *
FORM delete_spool.
DATA: ld_spool_nr TYPE tsp01_sp0r-rqid_char.
ld_spool_nr = gd_spool_nr.
CHECK p_delspl <> c_no.
CALL FUNCTION 'RSPO_R_RDELETE_SPOOLREQ'
       EXPORTING
            spoolid = ld_spool_nr.
ENDFORM.
*&      Form SEND_FILE_AS_EMAIL_ATTACHMENT
      Send email
FORM send_file_as_email_attachment tables it_message
                                          it_attach
                                    using p_email
                                          p_mtitle
                                          p_format
                                          p_filename
                                          p_attdescription
                                          p_sender_address
                                          p_sender_addres_type
                                 changing p_error
                                          p_reciever.
DATA: ld_error    TYPE sy-subrc,
        ld_reciever TYPE sy-subrc,
        ld_mtitle LIKE sodocchgi1-obj_descr,
        ld_email LIKE somlreci1-receiver,
        ld_format TYPE so_obj_tp ,
        ld_attdescription TYPE so_obj_nam ,
        ld_attfilename TYPE so_obj_des ,
        ld_sender_address LIKE soextreci1-receiver,
        ld_sender_address_type LIKE soextreci1-adr_typ,
        ld_receiver LIKE sy-subrc.
data:   t_packing_list like sopcklsti1 occurs 0 with header line,
        t_contents like solisti1 occurs 0 with header line,
        t_receivers like somlreci1 occurs 0 with header line,
        t_attachment like solisti1 occurs 0 with header line,
        t_object_header like solisti1 occurs 0 with header line,
        w_cnt type i,
        w_sent_all(1) type c,
        w_doc_data like sodocchgi1.
ld_email   = p_email.
ld_mtitle = p_mtitle.
ld_format              = p_format.
ld_attdescription      = p_attdescription.
ld_attfilename         = p_filename.
ld_sender_address      = p_sender_address.
ld_sender_address_type = p_sender_addres_type.
Fill the document data.
w_doc_data-doc_size = 1.
Populate the subject/generic message attributes
w_doc_data-obj_langu = sy-langu.
w_doc_data-obj_name = 'SAPRPT'.
w_doc_data-obj_descr = ld_mtitle .
w_doc_data-sensitivty = 'F'.
Fill the document data and get size of attachment
CLEAR w_doc_data.
READ TABLE it_attach INDEX w_cnt.
w_doc_data-doc_size =
     ( w_cnt - 1 ) * 255 + STRLEN( it_attach ).
w_doc_data-obj_langu = sy-langu.
w_doc_data-obj_name   = 'SAPRPT'.
w_doc_data-obj_descr = ld_mtitle.
w_doc_data-sensitivty = 'F'.
CLEAR t_attachment.
REFRESH t_attachment.
t_attachment[] = it_attach[].
Describe the body of the message
CLEAR t_packing_list.
REFRESH t_packing_list.
t_packing_list-transf_bin = space.
t_packing_list-head_start = 1.
t_packing_list-head_num = 0.
t_packing_list-body_start = 1.
DESCRIBE TABLE it_message LINES t_packing_list-body_num.
t_packing_list-doc_type = 'RAW'.
APPEND t_packing_list.
Create attachment notification
t_packing_list-transf_bin = 'X'.
t_packing_list-head_start = 1.
t_packing_list-head_num   = 1.
t_packing_list-body_start = 1.
DESCRIBE TABLE t_attachment LINES t_packing_list-body_num.
t_packing_list-doc_type   = ld_format.
t_packing_list-obj_descr = ld_attdescription.
t_packing_list-obj_name   = ld_attfilename.
t_packing_list-doc_size   = t_packing_list-body_num * 255.
APPEND t_packing_list.
Add the recipients email address
CLEAR t_receivers.
REFRESH t_receivers.
t_receivers-receiver = ld_email.
t_receivers-rec_type = 'U'.
t_receivers-com_type = 'INT'.
t_receivers-notif_del = 'X'.
t_receivers-notif_ndel = 'X'.
APPEND t_receivers.
CALL FUNCTION 'SO_DOCUMENT_SEND_API1'
       EXPORTING
            document_data              = w_doc_data
            put_in_outbox              = 'X'
            sender_address             = ld_sender_address
            sender_address_type        = ld_sender_address_type
            commit_work                = 'X'
       IMPORTING
            sent_to_all                = w_sent_all
       TABLES
            packing_list               = t_packing_list
            contents_bin               = t_attachment
            contents_txt               = it_message
            receivers                  = t_receivers
       EXCEPTIONS
            too_many_receivers         = 1
            document_not_sent          = 2
            document_type_not_exist    = 3
            operation_no_authorization = 4
            parameter_error            = 5
            x_error                    = 6
            enqueue_error              = 7
            OTHERS                     = 8.
Populate zerror return code
ld_error = sy-subrc.
Populate zreceiver return code
LOOP AT t_receivers.
    ld_receiver = t_receivers-retrn_code.
ENDLOOP.
ENDFORM.
Regards,
Shakti Barath

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