Table 33 lists the OPC UA Variables and the drive properties represented by those Variables which are components of the drive ObjectTypes above.

The Variables listed are components of a parent folder which belongs to the Axis Object. The parent folder is specified in the row preceding the rows specifying the Variables which belong to this very folder.

Table 33 – Drive Properties represented by OPC UA Variables

BrowseName

Drive Property represented

Monitoring

AxisState

Actual state of the Axis/DO’ internal state machine, e.g. S2, encoded as 0:MultiStateDiscreteType. The content of the EnumStrings lookup table Property is defined in Table 17.

ControlPriority

Leading control context, e.g. PROFIBUS or PROFINET, of the Axis/DO encoded as 0:MultiStateDiscreteType. The content of the EnumStrings lookup table Property is defined in Table 17.

ControlMode

Active control function in the overall control cascade, e.g. SPEED_CONTROL_MODE, encoded as 0:MultiStateDiscreteType. The content of the EnumStrings lookup table Property is defined in Table 17.

VelocityCommandValue

Commanded velocity of the controller, transmitted by the associated Telegram Signal.

VelocitySetpoint

Velocity setpoint as input for motor/axis control unit.

VelocityActualValue

Current velocity.

PositionCommandValue

Commanded position of the controller.

PositionSetpoint

Setpoint as input for motor/axis control unit.

PositionActualValue

Current position of motor or axis.

FrequencyCommandValue

Commanded frequency of the controller, transmitted by the associated Telegram Signal.

FrequencySetpoint

Frequency setpoint as input for motor/axis control unit.

AccelerationActualValue

Current acceleration of motor or axis.

OutputFrequency

Output frequency of the Axis/DO.

OutputVoltage

Output voltage of the Axis/DO.

OutputCosPhi

Actual motor power factor.

OutputCurrent

Actual output current measured at the clamp.

Torque

Actual axis torque. Provide for rotatory axis only.

Force

Actual axis force. Provide for linear axis only.

Power

Actual power consumption.

MotorTemperature

Actual motor temperature.

ConverterTemperature

Actual converter temperature.

DeviceTemperature

Actual device temperature.

<FeedbackSensor1..3Temperature>

Actual temperature of feedback sensor.

BrakeResistorTemperature

Actual temperature of brake resistor.

DcBusVoltage

Actual decent bus voltage value.

PositionFollowingError

Actual difference between PositionSetpoint and PositionActualValue.

VelocityFollowingError

Actual difference between VelocitySetpoint and VelocityActualValue.

BrakeStatus

Actual brake status encoded as 0:MultiStateDiscreteType. The content of the EnumStrings lookup table Property is defined in Table 34. The Variable shall not be provided if the Drive Axis has no brake.

ContouringError

Limit of contouring error supervision.

Override

Active override factor on programmed velocity in percent (100% == programmed velocity).

Maintenance

PowerOnDuration

Actual duration of the power-on-state in milliseconds of the Axis/DO.

OperationDuration

Actual duration of performing effective operation of the Axis/DO (e.g. the Drive’s motor “works”) in milliseconds.

OperationCycleCounter

Number of switches between power-on and operation.

MotorCapacityUtilization

Utilization of motor thermal capacity, in % of motor load limit (0% - 100%).

ConverterCapacityUtilization

Utilization of converter thermal capacity, in % of converter load limit (0% - 100%).

CharacteristicsConverter

InputConverterAcInputVoltage

Input alternating voltage.

OutputConverterPulseFrequency

Pulse frequency of the drive’s converter.

IntermediateCircuitVoltageConfigured

Voltage of intermediate circuit determined by configuration data.

ConverterThermalLoadLimitConfigured

Thermal load limit of converter determined by configuration data.

ConverterExcessCurrentConfigured

Excess current of converter determined by configuration data.

BrakeResistorExcessCurrentLimit

Excess current limit of brake resistor, in ampere.

CharacteristicsMotorAndControl

PowerRated

Rated power of the motor.

SpeedRated

Rated speed of rotatory motor. If the motor of the axis does not work rotatory, the Variable shall not be provided.

TorqueRated

Rated torque of the motor.

ForceRated

Rated force of a linear moving axis.

MaxCurrent

Maximum current the motor draws from the power supply.

UfRatio

Constant ratio of voltage and frequency.

RunUpVoltage

Voltage the motor creates at the feeder clamp during start-up.

DcBrakingCurrent

Current the motor draws during braking.

DcBrakingTime

Time needed in dc-braking mode until stand still if the braking current given by the DcBrakingCurrent Variable is applied

FeedbackMode

Sensing device used by closed loop control of the Axis/DO, e.g. FEEDBACK_SENSOR_1, encoded as 0:MultiStateDiscreteType. The content of the EnumStrings lookup table Property is defined in Table 17.

SpeedMaxConfigured

Maximum speed determined by configuration data.

TorqueMaxConfigured

Maximum torque determined by configuration data.

MotorThermalLoadLimitConfigured

Thermal load limit of motor determined by configuration data.

MotorExcessCurrentConfigured

Excess current of motor determined by configuration data.

MotorType

Kind of motor, e.g. STEPPER, INDUCTION_ROTATORY, etc. encoded as 0:MultiStateDiscreteType. The content of the EnumStrings lookup table Property is defined in Table 17.

PositionFollowingErrorLimit

Maximum allowed position deviation in the position closed loop control. Exceeding this limit causes position following error.

VelocityFollowingErrorLimit

Maximum allowed velocity deviation in the velocity closed loop control. Exceeding this limit causes velocity following error.

UnitOfLength

Internal setting of length unit. The length unit is used for transmitting position, velocity, acceleration, deceleration in the PROFIdrive standard telegram 9. This Variable should be provided for the application classes 3 and 5 if the Signals sub-aspect is provided.

LimitSupervision

MotorCurrentLimitHigh

Current upper velocity limit of the Axis/DO.

MotorCurrentLimitLow

Current lower velocity limit of the Axis/DO.

TorqueLimit

Torque limit of the motor.

TorqueLimitLow

Lower torque limit of the motor.

TorqueLimitHigh

Upper torque limit of the motor.

SoftwareUpperPosLimit

Software upper position limit.

SoftwareLowerPosLimit

Software lower position limit.

TorqueLimiting

Indicates if torque limiting is active.

VelocityProfile

JogSpeed1

Jogging setpoint 1 value (see [PDP], chapter 6.3.3.3.4).

JogSpeed2

Jogging setpoint 2 value (see [PI 3172 PDP], chapter 6.3.3.3.4).

JogPosInc1

Jogging position increment 1.

JogPosInc2

Jogging position increment 2.

NominalSpeed

Reference value for ramp up (down) used to calculate ramp acceleration (deceleration)

RfgRampUpTime

Actual ramp up time of the Ramp Function Generator (RFG), see [PDP], chapter 6.3.3, in seconds

RfgRampDownTime

Actual ramp down time of the RFG (see RfgRampUpTime above), in seconds

QuickStopRampDownTime

Quick stop ramp down time, in seconds.

RfgAcceleration

Actual ramp acceleration.

RampDeceleration

Actual ramp deceleration.

QuickStopRampDeceleration

Quick stop ramp deceleration.

MinimumVelocity

Lowest speed of the ramp-function.

MaximumVelocity

Highest speed of the ramp-function.

CharacteristicsMechanics

Gearfactor

Rotation to rotation transmission factor.

SpindlePitch

Rotation to linear transmission factor.

FollowingError

Limit of following error supervision.

Homing

HomingDirection

Homing direction (POSITIVE or NEGATIVE)

HomingSpeedToCam

Speed when moving to cam.

HomingSpeedToMark

Speed when moving to mark.

HomingPointOffset

Home position shift for adjustment of axis mechanical zero.

HomingMode

Active homing mode (ABSOLUTE, REF_MARK, DIST_CODE, FLY).

Diagnosis

Logbook

Representation of the Axis/DO fault buffer.

Table 34 – Content of EnumStrings Property of BrakeStatus Variable

Element Index (==Value)

Element Value (locale ”en”)

Description

0

”NO_BRAKE”

No brake.

1

”OPEN_BRAKE”

Brake is open and has no effect.

2

”MECHANIC_BRAKE_APPLIED”

The mechanic brake is active.

3

”DC_BRAKE_APPLIED”

The DC brake is active.

4

“ROTOR_SHORT_APPLIED”

Rotor short circuit is active.