The interface indicates reference and actual values such as reference velocities and reference positions.
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
Current |
DINT |
Read |
Indicates the filtered effective value of the actual current in mA. |
|
EncoderPosition |
LREAL |
Read |
Indicates the actual position within the EncoderRange in units. |
|
FeedbackCurrent |
DINT |
Read |
Indicates the effective value of the reference current proportion at the output of the velocity controller in mA. |
|
MechPosition |
LREAL |
Read |
Indicates the actual position that is transferred from the drive via Sercos in units. |
|
MechRefPosition |
LREAL |
Read |
Indicates the reference position that is transferred to the drive via Sercos in units. |
|
MechRefVelocity |
LREAL |
Read |
Indicates the reference velocity that is calculated by deduction from the reference position MechRefPosition, in units/s. |
|
MechVelocity |
LREAL |
Read |
Indicates the actual velocity that is calculated by deduction from the actual position MechPosition, in units/s. |
|
RefAcceleration |
LREAL |
Read |
Indicates the reference acceleration that is calculated by deduction from the reference velocity RefVelocity, in units/s2. |
|
RefVelocity |
LREAL |
Read |
Indicates the reference velocity that is calculated by deduction from the reference position RefPosition, in units/s. |
|
TrackingDeviation |
LREAL |
Read |
Indicates the dead time compensated deviation (tracking deviation) between MechRefPosition and MechPosition in units. |
|
Velocity |
LREAL |
Read |
Indicates the actual velocity of the device. |