A PositionServoDriveAxisType is an DriveAxisType with a position command interface. Figure 26 shows a block diagram demonstrating the basic organization and control flow for this axis type. If the Drive is a PROFIdrive the PositionServoDriveAxisType is used to represent AC5 Drive Objects.
Figure 26 – PositionServoDriveAxisType Block Diagram
Figure 27 shows the components added by the PositionServoDriveAxisType ObjectType to the DriveAxisType it is derived from.
Figure 27 – Components added by PositionServoDriveAxisType
The formal definition of the PositionServoDriveAxisType ObjectType can be found in Table 26.
Table 26 – PositionServoDriveAxisType Definition
|
Attribute |
Value |
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|
BrowseName |
PositionServoDriveAxisType |
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|
IsAbstract |
False |
||||
|
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 |
O |
|
0:GeneratesEvent |
ObjectType |
AxisSwOvertravelEventType |
|
|
|
|
0:GeneratesEvent |
ObjectType |
AxisHwOvertravelEventType |
|
|
|
|
0:GeneratesEvent |
ObjectType |
TorqueLimitEventType |
|
|
|
|
Conformance Units |
|||||
|
PDRV Measurement |
|||||
|
|
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Some components of the PositionServoDriveAxisType have additional subcomponents which are defined in Table 27.
Table 27 – PositionServoDriveAxisType additional Subcomponents
|
BrowsePath |
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Others |
|
Monitoring |
0:HasComponent |
Variable |
PositionCommandValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
VelocitySetpoint |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
PositionActualValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
VelocityActualValue |
0:Float |
0:AnalogUnitType |
M, RO |
|
Monitoring |
0:HasComponent |
Variable |
PositionSetpoint |
0:Float |
0:AnalogUnitType |
O, RO |
|
Monitoring |
0:HasComponent |
Variable |
AccelerationActualValue |
0:Float |
0:AnalogUnitType |
O, RO |
|
Monitoring |
0:HasComponent |
Variable |
ContouringError |
0:Float |
0:AnalogUnitType |
M, RO |
|
LimitSupervision |
0:HasComponent |
Variable |
TorqueLimit |
0:Float |
0:AnalogUnitType |
M, 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 |
|
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 |