I'm using a 1769-L18ERM to control two Kinetix 5500 servo drives. I am setting up a virtual axis, which I will use the MAJ instruction to run, and then both physical axes will use the MAG instruction to follow the virtual axis. These servos are running a position loop but are simply conveyors that will run at a constant speed in the forward direction.
My question is: how can I easily determine when the virtual axis and the physical conveyors are "at speed", to give the upstream enable to the equipment behind them? With a powerflex drive there is an AtReference bit that serves this purpose, but I can't find anything to match that on the virtual/physical axis data structure. I could use a running status and then check that the accel and decel status are both false, but I'm not sure how sensitive those bits are - e.g. does it constantly turn those on and off as it adjusts the outputs to maintain the set speed? I don't want my At Speed bit turning off just because the servo had to tweak it's output by 0.01%.
My question is: how can I easily determine when the virtual axis and the physical conveyors are "at speed", to give the upstream enable to the equipment behind them? With a powerflex drive there is an AtReference bit that serves this purpose, but I can't find anything to match that on the virtual/physical axis data structure. I could use a running status and then check that the accel and decel status are both false, but I'm not sure how sensitive those bits are - e.g. does it constantly turn those on and off as it adjusts the outputs to maintain the set speed? I don't want my At Speed bit turning off just because the servo had to tweak it's output by 0.01%.