January 2012 6.16 The Control Loop 855
Module 9164 Read the actual speed value of the drive motor
The module provides the actual speed value of a motor controlled by an
integral current controller in 1/1000 revolutions per minute.
The resolution of the actual speed value depends on the encoder being used:
Constraints:
The value 0 is read for axes that are not connected.
For motors in volts-per-hertz (U/f) control mode, the module returns the
nominal speed value (vnnoml) since there is no actual-value encoder.
An axis that is not configured as "active", or an axis that was set to the
"deactivated axis" activation status (e.g. with Module 9226 or 9418), is
treated as if it were not present.
Call:
PS B/W/D/K <>Axis>
Index from CfgAxes/axisList
CM 9164
PL B/W/D <>Actual speed value in the format 0.001 [min–1]>
Error recognition:
Marker Value Meaning
NN_GenApiModule
Error (M4203)
0 Actual speed value was read
1 Control has no integrated current controller
Resolution
1
line count 1024⋅
-------------------------------------------
100 000 min
-1
[]⋅=
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