Function - Returns the actual velocity of the axis based on the data provided by the drive's feedback device.
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.
In AKD, S300, and 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 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
