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. |