MLAxisReadVel

Description

Return the actual velocity of the axis, based on the data provided by the drive's feedback deviceA process whereby 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.

AKD, S300, S700 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 data for the controller to read the axis actual velocity from the drives. This can be added via the PDO Editor Tab. The 'Velocity Actual Value' object is included by default in the AKD PDOs 0x1B20, 0x1B22, and 0x1B23.

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

Arguments

Input

ID	Description	Pipe network identifier of the axis block.
	Data type	DINT
	Range	—
	Unit	N/A
	Default	—

Output

Velocity	Description	The actual velocity of the axis.
	Data type	LREAL
	Unit	User unit/sec

Related Functions

MLAxisReadActPos

MLAxisReadTq

Example

Structured Text

Axis1_Velocity := MLAxisReadVel(PipeNetwork.Axis1 ) ;

Ladder Diagram

Function Block Diagram

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