Velocity

General

Functional Description

Velocity shows the actual velocity, which is calculated by deduction from the actual position MechPosition, in units per second. It is displayed at the drive shaft (gear box output side). The YOffsetVelocity from the Y offset generator is included (see Reference and Actual Values).

Coordinate displacement with SetPos (FC_SetposDual(), FC_SetposGroup(), FC_SetposSingle()) does not affect this parameter. The parameter Direction must be taken into account when interpreting Velocity. The value of Velocity is calculated once per Sercos cycle (CycleTime).

The following is defined: VelDelay = ShaftDelay + (CycleTime/2)

In relation to the actual position on the drive shaft, the Velocity is delayed by the VelDelay time. This means, a velocity including YOffsetVelocity is displayed that is delayed to the drive shaft by the ShaftDelay time.

The actual speed is calculated by forming the difference from two position values. If a gear is present at the motor, it is considered when calculating and displaying the actual velocity.

NOTE: The parameter value is calculated in dependency of the parameters that are transferred from the slave to the master via the real-time channel of the Sercos. If the Sercos bus is not in phase 4, then a standard value is indicated here. If the Sercos bus is in phase 4 (operating phase), then the parameter value is calculated and indicated. This parameter has no meaning for asynchronous motors without encoder (in open-loop V / f control mode, ControlMode = open-loop control / 1).