Configuration Manual Owner's manual

Publication 1784-UM003A-EN-P – June 2003
Motion Object Attributes 401
Velocity Offset Velocity Offset compensation can be used to correct to provide a dynamic
velocity correction to the output of the position servo loop. Since this value is
updated synchronously every Coarse Update Period, the Velocity Offset can
be tied into custom outer control loop algorithms using Function Block
programming. .
Torque Offset Torque Offset compensation can be used to provide a dynamic torque
command correction to the output of the velocity servo loop. Since this value
is updated synchronously every Coarse Update Period, the Torque Offset can
be tied into custom outer control loop algorithms using Function Block
programming.
Drive Fault Actions
Each axis can be configured to respond to each of the five types of drive faults
in any one of four different ways. This flexibility is important because motion
control applications differ widely in their fault action requirements.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Velocity Offset REAL Position Units per sec.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Torque Offset REAL % Rated
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Soft Overtravel Fault Action SINT 0 = shutdown
1 = disabled drive
2 = stop command
3 = status only
SSV/GSV Hard Overtravel Fault
Action
SINT 0 = shutdown
1 = disabled drive
2 = stop command
3 = status only
SSV/GSV Position Error Fault Action SINT 0 = shutdown
1 = disabled drive
2 = stop command
3 = status only
SSV/GSV Feedback Loss Fault Action SINT 0 = shutdown
1 = disabled drive
2 = stop command
3 = status only