OPC UA Variable Mapping to Drive Properties – OPC UA for PROFINET Drives

7.10 OPC UA Variable Mapping to Drive Properties

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.