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 of the axis based on the data provided by the drive's feedback device A 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.
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 returns cached data.
See Program a Multi-Core Controller for more information.
In AKD, S300 "Servostar 300 drive"
See Servo Drive in Glossary, and S700 "Servostar 700 drive"
See Servo Drive in Glossary 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 PDO is 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
