7.6 PositionServoDriveAxisType
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 27 shows the components added by the PositionServoDriveAxisType ObjectType to the DriveAxisType it is derived from.
The formal definition of the PositionServoDriveAxisType ObjectType can be found in Table 26.
| Attribute | Value | ||||
| BrowseName | PositionServoDriveAxisType | ||||
| 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 | |||||
Some components of the PositionServoDriveAxisType have additional subcomponents which are defined in Table 27.
| 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 |