TA CiaAdvanced: Actual values of both encoders (position and speed) also available with external position control via PLC (from V01.04.01)
Function extension: When using the 2nd load sensor as position sensor (0x500D/90 = position control external position sensor ) in TA CiA402 Advanced the actual position "0x6064 Position actual Value" defined in the standard CiA402 is returned as the value of the position sensor. This has the advantage that the higher-level control does not necessarily have to know whether an external position encoder is used or not.
In objects 0x503E/2 and 0x503E the velocity and the position of the motor are explicitly provided in a mappable form. This can be used for:
- a mutual monitoring of the encoders by plausibility check. - Analysis of the dynamic behaviour of the application. - Influence of elasticity, torsion, slack, wear within the application etc. - Detection of sporadically occurring slippage or misalignment within the mechanics.
Contained in which products? TA-i900 servo inverter: from V01.04.01
