7.5 VelocityServoDriveAxisType
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 25 shows the components added by the VelocityServoDriveAxisType ObjectType to the DriveAxisType it is derived from.
The formal definition of the VelocityServoDriveAxisType ObjectType can be found in Table 24.
| Attribute | Value | ||||
| BrowseName | VelocityServoDriveAxisType | ||||
| 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 | M | |
| 0:GeneratesEvent | ObjectType | AxisSwOvertravelEventType | |||
| 0:GeneratesEvent | ObjectType | AxisHwOvertravelEventType | |||
| 0:GeneratesEvent | ObjectType | TorqueLimitEventType | |||
| Conformance Units | |||||
|---|---|---|---|---|---|
| PDRV Measurement | |||||
Some components of the VelocityServoDriveAxisType have additional subcomponents which are defined in Table 25.
| 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 |