Function
A function calculates a result according to the current value of its inputs.
A function has no internal data and is not linked to declared instances. - Returns the actual velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP of the axis based on the data provided by the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo.
Control device for regulating the speed, torque and position of a motor.
A unit controlling a motor using the current and timing in its coils.'s feedback device A process where some proportion of the output signal of a system is passed (fed back) to the input.
In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position.
Some systems use a feedback device connected to the motor shaft or part of the driven mechanism to control the direction, acceleration and speed of the motor..
Inputs
|
Input |
Data Type |
Range |
Unit |
Default |
Description |
|---|---|---|---|---|---|
|
ID |
DINT |
No range |
N/A |
No default |
Pipe network identifier of the axis block. |
Outputs
|
Output |
Data Type |
Range |
Unit |
Description |
|---|---|---|---|---|
|
Velocity |
LREAL |
|
|
The actual velocity of the axis. |
Remarks
-
-
This function or function block
A function block groups an algorithm and a set of private data.
It has inputs and outputs. returns cached data.
See Program a Multi-Core Controller.
In AKD, S300 Servostar 300 drive, and S700 Servostar 700 drive drives:
- The actual velocity is calculated internally by the drive.
- The Velocity Actual Value object (CoE object 0x606C, subindex 0) must be included in the drive's Input (Tx) PDO Process Data Opjects - A type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. data for the controller to read the axis actual velocity from the drives.
- This is added using the PDO Editor tab.
- By default, the Velocity Actual Value object is included in the AKD PDOs 0x1B20, 0x1B22, and 0x1B23.
FBD Language Example
FFLD Language Example
IL Language Example
Not available.
ST Language Example
Axis1_Velocity := MLAxisReadVel(PipeNetwork.Axis1 ) ;
See Also
