General
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Type
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AF
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Offline editable
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No
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Devices supporting the parameter
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Traceable
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Yes
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Functional Description
The parameter represents the reference velocity, which is derived from the reference position RefPosition, in units per second.
NOTE: In PacDrive systems, the user coordinate system is represented in units. Depending on the setting of the FeedConstant (units/revolution or units/m), the user coordinate system is mapped to the physical dimensions. In a multi carrier transport system, one user unit is mapped to 1 mm on the physical track. The setting of a FeedConstant is not supported.
Coordinate displacements with FC_SetposSingle() do not affect the parameter RefVelocity.
The value of RefVelocity is calculated once per Sercos cycle (see CycleTime).
For more information on the CycleTime, refer to the LMC Pro Device Objects and Parameters Guide.
NOTE: If
EnableSet inside the user function
CarrierState (see
CarrierState) is disabled, the value of
Position (see
Position) is cyclically copied to
RefPosition (see
RefPosition).
RefVelocity is calculated from this path of positions. Disabling
EnableSet while the carrier is still in motion causes a jump in
RefPosition. When calculating
RefVelocity from
RefPosition, this jump is indicated. For this reason, the derivation causes an errant value in
RefVelocity. The carrier does not react to this errant value as it no longer follows the reference values when
EnableSet is disabled.
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Data type
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Meaning
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LREAL
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The reference velocity of the carrier, derived from the reference position RefPosition.
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