A VelocityServoDriveAxisType is an DriveAxisType with a velocity command interface. Figure 24 shows a block diagram demonstrating the basic organization and control flow for this axis type. If the Drive is a PROFIdrive, the VelocityServoDriveAxisType is used to represent AC4 Drive Objects using a speed command interface.
Figure 24 – VelocityServoDriveAxisType Block Diagram
Figure 25 shows the components added by the VelocityServoDriveAxisType ObjectType to the DriveAxisType it is derived from.
Figure 25 – Components added by VelocityServoDriveAxisType
The formal definition of the VelocityServoDriveAxisType ObjectType can be found in Table 24.
Table 24 – VelocityServoDriveAxisType Definition
|
Attribute |
Value |
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|
BrowseName |
VelocityServoDriveAxisType |
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|
IsAbstract |
False |
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|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
|
Subtype of the DriveAxisType. |
|||||
|
0:HasComponent |
Object |
EncoderChannelMotor |
|
3:EncoderChannelType |
M |
|
0:HasComponent |
Object |
EncoderChannelMechanic |
|
3:EncoderChannelType |
O |
|
0:HasComponent |
Object |
<EncoderChannelAuxiliary> |
|
3:EncoderChannelType |
OP |
|
0:HasComponent |
Object |
Homing |
|
0:FolderType |
M |
|
0:GeneratesEvent |
ObjectType |
AxisSwOvertravelEventType |
|
|
|
|
0:GeneratesEvent |
ObjectType |
AxisHwOvertravelEventType |
|
|
|
|
0:GeneratesEvent |
ObjectType |
TorqueLimitEventType |
|
|
|
|
Conformance Units |
|||||
|
PDRV Measurement |
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|
|
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Some components of the VelocityServoDriveAxisType have additional subcomponents which are defined in Table 25.
Table 25 – VelocityServoDriveAxisType additional Subcomponents
|
BrowsePath |
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Others |
|
Monitoring |
0:HasComponent |
Variable |
VelocitySetpoint |
0:Float |
0:AnalogUnitType |
O, RO |
|
Monitoring |
0:HasComponent |
Variable |
VelocityCommandValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
VelocityActualValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
AccelerationActualValue |
0:Float |
0:AnalogUnitType |
O, RO |
|
Homing |
0:HasComponent |
Variable |
HomingMode |
0:Byte |
HomingModeType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimitHigh |
0:Float |
0:AnalogUnitType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimitLow |
0:Float |
0:AnalogUnitType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimiting |
0:Boolean |
0:BaseDataVariableType |
O, RO |