A PositioningDriveAxisType is an DriveAxisType with a motion trajectory command interface. Figure 22 shows a block diagram demonstrating the basic organization and control flow for this axis type. If the Drive is a PROFIdrive the PositioningDriveAxisType is used to represent AC3 Drive Objects using a motion trajectory command interface (program submode or MDI submode).
Figure 22 – PositioningDriveAxisType Block Diagram
Figure 23 shows the components added by the PositioningDriveAxisType ObjectType to the DriveAxisType it is derived from.
Figure 23 – Components added by PositioningDriveAxisType
The formal definition of the PositioningDriveAxisType ObjectType can be found in Table 22.
Table 22 – PositioningDriveAxisType Definition
|
Attribute |
Value |
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|
BrowseName |
PositioningDriveAxisType |
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|
IsAbstract |
False |
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|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
|
Subtype of the DriveAxisType. |
|||||
|
0:HasComponent |
Object |
Homing |
|
0:FolderType |
O |
|
0:HasComponent |
Object |
CharacteristicsMechanics |
|
0:FolderType |
M |
|
0:HasComponent |
Object |
LimitSupervision |
|
0:FolderType |
M |
|
0:HasComponent |
Object |
MotionProgram |
|
0:FileType |
O |
|
0:GeneratesEvent |
ObjectType |
TorqueLimitEventType |
|
|
|
|
0:GeneratesEvent |
ObjectType |
MotorCurrentLimitEventType |
|
|
|
|
Conformance Units |
|||||
|
PDRV Measurement |
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|
|
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Some components of the PositioningDriveAxisType have additional subcomponents which are defined in Table 23.
Table 23 – PositioningDriveAxisType additional Subcomponents
|
BrowsePath |
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Others |
|
Monitoring |
0:HasComponent |
Variable |
PositionActualValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
PositionSetpoint |
0:Float |
0:AnalogUnitType |
O, RO |
|
Monitoring |
0:HasComponent |
Variable |
VelocityActualValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
AccelerationActualValue |
0:Float |
0:AnalogUnitType |
O, RO |
|
Monitoring |
0:HasComponent |
Object |
TraversingTask |
|
TraversingTaskType |
M |
|
Monitoring |
0:HasComponent |
Variable |
Override |
0:Float |
0:BaseDataVariableType |
O, RO |
|
VelocityProfile |
0:HasComponent |
Variable |
JogSpeed1 |
0:Float |
0:AnalogUnitType |
O, RO |
|
VelocityProfile |
0:HasComponent |
Variable |
JogSpeed2 |
0:Float |
0:AnalogUnitType |
O, RO |
|
VelocityProfile |
0:HasComponent |
Variable |
JogPosInc1 |
0:Float |
0:AnalogUnitType |
O, RO |
|
VelocityProfile |
0:HasComponent |
Variable |
JogPosInc2 |
0:Float |
0:AnalogUnitType |
O, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
MotorCurrentLimitHigh |
0:Float |
0:AnalogUnitType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
MotorCurrentLimitLow |
0:Float |
0:AnalogUnitType |
O, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimitLow |
0:Float |
0:AnalogUnitType |
O, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimitHigh |
0:Float |
0:AnalogUnitType |
O, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
SoftwareUpperPosLimit |
0:Float |
0:AnalogUnitType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
SoftwareLowerPosLimit |
0:Float |
0:AnalogUnitType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimiting |
0:Boolean |
0:BaseDataVariableType |
O, RO |
|
CharacteristicsMechanics |
0:HasComponent |
Variable |
Gearfactor |
0:Float |
0:AnalogUnitType |
O, RO |
|
CharacteristicsMechanics |
0:HasComponent |
Variable |
SpindlePitch |
0:Float |
0:AnalogUnitType |
O, RO |
|
CharacteristicsMotorAndControl |
0:HasComponent |
Variable |
UnitOfLength |
0:Float |
0:AnalogUnitType |
O, RO |
|
Homing |
0:HasComponent |
Variable |
HomingDirection |
0:Byte |
HomingDirectionType |
O, RO |
|
Homing |
0:HasComponent |
Variable |
HomingSpeedToCam |
0:Float |
0:AnalogUnitType |
O, RO |
|
Homing |
0:HasComponent |
Variable |
HomingSpeedToMark |
0:Float |
0:AnalogUnitType |
O, RO |
|
Homing |
0:HasComponent |
Variable |
HomingPointOffset |
0:Float |
0:AnalogUnitType |
O, RO |
|
Homing |
0:HasComponent |
Variable |
HomingMode |
0:Byte |
HomingModeType |
O, RO |