Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Manual de usuario descargar pdf (Pagina 360)

Publication 1784-UM003A-EN-P – June 2003

352 Motion Object Attributes

Acceleration Command

Acceleration Command is the current acceleration reference to the output

summing junction, in the configured axis Position Units per Second

, for the

specified axis. The Acceleration Command value, hence, represents the output

of the inner velocity control loop. Acceleration Command is not to be

confused with Command Velocity, which represents the rate of change of

Command Position input to the position servo loop.

Acceleration Feedback

Acceleration Feedback is the actual velocity of the axis as estimated by the

servo module, in the configured axis Position Units per Second

. The

Estimated Acceleration is calculated by taking the difference in the Estimated

Velocity over the servo update interval. Acceleration Feedback is a signed

value—the sign (+ or -) depends on which direction the axis is currently

moving.

Marker Distance

Marker Distance is the distance between the axis position at which a home

switch input was detected and the axis position at which the marker event was

detected. This value is useful in aligning a home limit switch relative to a

feedback marker pulse to provide repeatable homing operation.

Torque Command

This is the command value when operating in torque mode.

Torque Feedback

This is the torque feedback value when operating in torque mode.