Acceleration Control Attributes
These are the acceleration-related attributes associated with a Motion Control Axis.
Acceleration Command
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get | T | REAL | 0 | -max accel | max accel | Accel Control Units/Sec 2 |
Command acceleration output from Fine Command Generator (if active) into acceleration loop when configured for acceleration control.
Acceleration Trim
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set | T | REAL | 0 | -max accel | max accel | Accel Control Units/Sec 2 |
Additional acceleration command added to the acceleration loop summing junction.
Acceleration Reference
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get | T | REAL | - | - | - | Accel Control Units/Sec 2 |
Command acceleration reference into acceleration loop summing junction.
Acceleration Feedback
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - E | Get | T | REAL | - | - | - | Accel Control Units/Sec 2 |
Actual acceleration of the axis based on the selected feedback device.
Load Observer Acceleration Estimate
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get | T | REAL | - | - | - | Accel Control Units/Sec 2 |
Output of the Load Observer that, when the Load Observer block is enabled, is applied to the acceleration reference summing junction. In the Load Observer configuration, this signal compensates for disturbances to the load relative to an ideal load model. When the Load Observer is configured to operate in Acceleration Feedback Only mode, this signal is the estimated acceleration feedback signal used to close the acceleration loop. When the Load Observer is disabled, this signal is 0.
Load Observer Torque Estimate
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PV | Get | T | REAL | - | - | - | % Motor Rated |
Product of the Load Observer Acceleration Estimate signal and the current System Inertia value, Kj. In the Load Observer configuration, this signal represents the estimated torque disturbances to the load relative to an ideal load model. When the Load Observer is configured to operate in Acceleration Feedback Only mode, this signal is an estimate of the applied motor torque. When the Load Observer is disabled, this signal is 0.
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