Updated 12-Mar-2012
Products: Aries EPL, AR-xxPE, ACR9030,ACR9040, ACR9630, ACR9640
By default an Aries EPL drive will report the following parameter back to the ACR controller every EPL cycle
| Value | Where to find | Starting Parameter |
| Position | EPL Parameters/EPLD Position Parameters/EPLD Position | P38144 |
| Velocity | EPL Parameters/EPLD Position Parameters/EPLD Velocity | P38145 |
| Secondary Position | EPL Parameters/EPLD Position Parameters/EPLE Position | P38146 |
| Drive Status | EPL Flags/EPLD Status 1 and 2 Flags | BIT9472 |
| Inputs | EPL Flags/EPLD Digital Inputs | BIT3328 |
| Following Error | Axis Parameter/Position Parameters/Following Error | P12291 |
| Actual Torque | Axis Parameter/Monitor Parameters/Final Output Signal | P12319 |
The user can chose to report additional parameters. Each EPLD has a controller parameter called Extended Drive Status (p37645). Be default this value is 0. If set to 1, then the associated Aries EPL drive will cycle through updates to the parameters listed below, updating one parameter each EPL cycle.
Extended Drive Data parameters are:
| Value | Where to find | Starting Parameter |
| Custom Product ID | Drive Parameters/Long Status Parameters | P28692 |
| Encoder Position | Drive Parameters/Long Status Parameters | P28693 |
| Current Hall State | Drive Parameters/Long Status Parameters | P28694 |
| Operating Hours | Drive Parameters/Long Status Parameters | P28695 |
| Operating Minutes | Drive Parameters/Long Status Parameters | P28696 |
| Operating Milliseconds | Drive Parameters/Long Status Parameters | P28697 |
| Amplifier Cont Current Rating | Drive Parameters/FLOAT Status Parameters | P28736 |
| Amplifier Max Current Rating | Drive Parameters/FLOAT Status Parameters | P28737 |
| Commanded Current | Drive Parameters/FLOAT Status Parameters | P28738 |
| Commanded Torque | Drive Parameters/FLOAT Status Parameters | P28739 |
| Actual Torque | Drive Parameters/FLOAT Status Parameters | P28740 |
| Actual Velocity | Drive Parameters/FLOAT Status Parameters | P28741 |
| Shaft Power in Watts | Drive Parameters/FLOAT Status Parameters | P28742 |
| Drive Temperature | Drive Parameters/FLOAT Status Parameters | P28743 |
| Motor Temperature | Drive Parameters/FLOAT Status Parameters | P28744 |
| Bus Voltage | Drive Parameters/FLOAT Status Parameters | P28745 |
Actual Torque and Following Error will also be part of this round robin reporting. The value of Extended Drive Data can be changed at any time. Each EPLD drive has its own Extended Drive Data parameter allowing the user to customize the data received for each drive.
