IF_VirtualMotor - General Information

Overview

Type:	Interface
Available as of:	V2.7.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Properties

Task

Retrieve the calculated values of a virtual motor.

Description

The interface provides calculated values of a virtual motor.

Properties

Name	Data type	Accessing	Description
lrTrackingDeviationIndicator	LREAL	Read	A value greater than 0.0 indicates that a real motor could have a tracking deviation.
xTrackingDeviationIndicator	BOOL	Read	TRUE: lrTrackingDeviationIndicator has a value greater than 0.0.
udiMotorOverload	UDINT	Read	A value greater than 0 means that a real motor would have a motor overload (DriveOverload/I²t).
xMotorOverload	BOOL	Read	TRUE: udiMotorOverload has a value greater than 0.
lrLoadIndicator	LREAL	Read	Percentage value to display the load of the robot.

The value lrTrackingDeviationIndicator increases if the lrLoadIndicator is greater than 100%.

NOTE: The behavior of a real motor is influenced by different factors, for example, control loop, load, mechanics, and so on. Therefore, there could be a difference between the values for a virtual motor and the real motor.