Rockwell Automation GMLC Reference Manual - Manual (Page 513)

Publication GMLC-5.2 - November 1999
476 Motion Variables
The following figure shows where in the servo loop the motion variables
are monitored. In this figure, the gray boxes represent the motion
variables and the white boxes represent the servo loop components. Each
motion variable is explained following the diagram.
Command_Velocity Axis Pos. Units/Sec. ✔ ✔
Servo_Output_Level Volts ✔
Servo_Output_Level_mA mA ✔
Analog_Offset_setpoint Volts ✔
Analog_Offset_error Volts ✔
PCAM_auto_correction_to_go Axis Position Units ✔ ✔
PCAM_registration_error Axis Position Units ✔ ✔
PCAM_average_registration_error Axis Position Units ✔
PCAM_good_registration_count Integer ✔
PCAM_missing_registration_count Integer ✔
PCAM_bad_registration_count Integer ✔
Axis_iq_reference_1394 %Rated ✔
Axis_it_limit_1394 %Rated ✔
Axis_velocity_cmd_1394 RPM ✔
Axis_torque_cmd_1394 %Rated ✔
Variable Units
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