7.4 PositioningDriveAxisType
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 23 shows the components added by the PositioningDriveAxisType ObjectType to the DriveAxisType it is derived from.
The formal definition of the PositioningDriveAxisType ObjectType can be found in Table 22.
| Attribute | Value | ||||
| BrowseName | PositioningDriveAxisType | ||||
| IsAbstract | False | ||||
| 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 | |||||
Some components of the PositioningDriveAxisType have additional subcomponents which are defined in Table 23.
| 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 |