Motion Error Codes, faults, and attributes
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 597
PositionPolarity INT GSV G10/Configuration
Maps directly to the SERCOS IDN. It is automatically set based on the current Drive
Polarity Settings. All command bits are set according to the Command polarity bit
value and all feedback bits are set according to the Feedback Polarity bit setting.
PositionProportionalGain REAL GSV/SSV G11/Configuration
This value is multiplied by the position error to create a component to the
VelocityCommand that attempts to correct for the position error. Increasing the
gain value increases the bandwidth of the position servo loop and results in
greater static stiffness of the axis which is a measure of the corrective force
applied to an axis for a given position error.
PositionServoBandwidth REAL GSV/SSV G11/Configuration
This value represents the unity gain bandwidth that is used to calculate the gains
for a subsequent MAAT instruction. Within the constraints of a stable servo
system, the higher the PositionServoBandwidth the better the dynamic
performance of the system. A maximum value for this is generated by the MRAT
instruction. Computing the gains based on this maximum value by way of the
MAAT instruction results in dynamic response in keeping with the current value of
the DampingFactor.
PositionUnits STRING
The Axis Object lets you choose user-defined engineering units rather than
feedback counts for measuring and programming all motion related values. It
supports an ASCII text string of up to 32 characters. The string is used by the Logix
Designer application in the axis configuration dialogs.
PositionUnwind DINT GSV/SSV G1/Configuration
Used to perform the automatic unwind of the rotary axis. Electronic unwind
allows infinite position range for rotary axes by subtracting the unwind value
from both the actual and command position every time the axis makes a
complete revolution. The unwind value is in units feedback counts per axis
revolution and must be an integer.
PositiveDynamicTorqueLimit REAL GSV G10/Status
Represents the maximum positive torque/current limit magnitude. It should be
the lowest value of all torque/current limits in the drive at a given time. It
includes the amplifier peak limit, motor peak limit, user current limit, amplifier
thermal unit, and the motor thermal limit.
PowerCapacity REAL GSV G10/Status
Displays the present utilization of the axis power supply as a percent of rated
capacity.
PowerSupplyID INT GSV G10/Configuration
Contains the enumeration of the specific A-B Power Supply or System Module
catalog numbers associated with the axis. If it does not match, an error is
generated.
PrimaryOperationMode INT GSV G10/Configuration
Maps directly to the SERCOS IDN. It is automatically set based on the current
ServoLoopConfiguration and is Read-only.
To Next Page
Loading...
