Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 38)

9 PScope
Page 38 User Manual for Motion Control Tools
9.5.2 Controller mode recording
In controller mode, up to 4 channels with different variables can be recorded or represented,
depending on the time.
Cycle time (scan rate)
≥ 1 ms
Settings of scope channels:
Axis Select the axis to be recorded
Signal type Select between analogue signals, digital inputs/outputs and PMCprimo variables
Source Select the signal to be recorded. The following signals are available:
Analogue:
Demand Position Demand position calculated on the controller. Inc.
Actual Position Current motor position measured from the encoder. Inc.
Position Error Difference between the calculated demand and actual
measured position of the motor. Inc.
Demand Velocity Demand velocity calculated on the controller. Inc/Sec
Actual Velocity Current velocity of the motor calculated from the successive
motor encoder positions. Inc./ Sec
Average Velocity Measured actual velocity after applying an averaging
mechanism as set up by the VT command. Inc./ Sec
Reference Error Absolute position error relative to the last valid reference input. Inc.
Snapshot Position Absolute position measured when the last snapshot input
signal was detected. Inc.
Change in Demand Position Demand value of acceleration Inc./ Sec²
Change in Actual Position Actual value of acceleration Inc./ Sec ²
Analogue Input Actual voltage at analogue input (-10V ... +10V) -2048 ...
+2048
Analogue Loop Error Difference between tension setpoint and actual tension
feedback value of analogue control. Inc.
Map Scale Factor Actual scale factor between two axes. Master
*1000 /
Slave
Master Axis Position Actual position of master axis Inc.
Master Axis Velocity Actual velocity of master axis Inc./ Sec
Differential Axis Position Actual position of a differential axis Inc.
Differential Axis Velocity Actual velocity of a differential axis Inc./ Sec
Actual Current Servo
Amplifier Actual current of servo amplifier
(applies to controllers) mA