Beckhoff AX5000 Series Function Manual

Velocity - Controller Structure
Function description92
Version: 1.5
20.3 Parameter description
IDN S-0-0036 (Velocity command value)
In the velocity controller, velocity command values are transferred cyclically from the controller to the servo
drive via this parameter. The cycle time is specified in parameter S-0-0001.
Unit: rev/(2
30
ms)
IDN S-0-0037 (Additive velocity command value)
The parameter contains the additive velocity command value. This is cyclically added to parameter S-0-0036
(velocity command value), if the controller provides the value.
Unit: rev/(2
30
ms)
IDN S-0-0040 (Velocity feedback value 1)
The parameter contains the actual velocity value. It is determined from the signals of feedback system 1. If a
Velocity Observer is active, the signal of feedback system 1 is transferred by the Velocity Observer.
Unit: rev/(2
30
ms)
IDN S-0-0081 (Additiv torque command value)
Pre-control value for acceleration pre-control. This value is added directly to parameter P-0-0505 and
indicates a torque based on parameter P-0-0094. The parameter is only used during commissioning of the
higher-level velocity controller (from firmware v2.10).
Unit: per thousand; one-tenth of a per cent (‰)
IDN S-0-0091 (Bipolar velocity limit value)
This parameter limits the velocity command value of the drive. This parameter defines the upper (positive)
and lower (negative) limit. The lowest value of all set limits applies.
Unit: rev/(2
30
ms)
Further information on IDN P-0-0514 can be found under: Description of IDN P-0-0514 [
}89].

Beckhoff AX5000 Series Specifications

General

Control	EtherCAT
Protection Class	IP20
Feedback	Resolver, EnDat, Hiperface, SSI
Safety	STO (Safe Torque Off)
Relative Humidity	5% to 95%, non-condensing
Certifications	CE, UL, cUL
Operating Temperature	0…+45 °C