|
Type |
AF |
|
Devices supporting the parameter |
Lexium LXM52 Drive, Lexium LXM52 Linear Drive, Lexium LXM62 Drive, Lexium LXM62 Linear Drive, Lexium ILM62 Drive Module, Sercos Drive |
|
Traceable |
Yes |
MechVelocity represents the actual velocity, which is derived from the position MechPosition, in units per second. It is taken from the drive shaft (gear box output side). The YOffsetVelocity from the Y offset generator is taken into account (see Ref-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 MechVelocity. The value of MechVelocity is calculated once per Sercos cycle (CycleTime).
Relative to the speed at the drive shaft, the MechVelocity is delayed by the time ShaftDelay. Therefore, a velocity including YOffsetVelocity is represented that is delayed by the drive shaft by the ShaftDelay time.
NOTE: The parameter value is calculated using 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 default 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).
Usage with machine encoder: When a machine encoder is used, this parameter can be calculated either with the position of the motor encoder or with the position of the machine encoder. This depends on the object parameter EncoderMode. If the machine encoder is used for position control, the position of the machine encoder is used for the calculation; otherwise, the position of the motor encoder is used for the calculation.
