Add infoData and MotorLoad PVs for EL70x1 and EL70x7

[cdn-lnk]

Hi @anderssandstrom,

please let me know if any changes are needed to get this merged.

Thanks.

[anderssandstrom]

Nice, thanks.
What is motor load showing when not running in vector mode, guess 0.0?

[kivel]

How it motor load even determined for a stepper? I mean, it's running on a fixed current, regardless of it's load, isn't it?

[anderssandstrom]

@kivel , In vector mode EL70X7 runs like a servo, controlling current (never tested though..). In this mode, incremental encoder on shaft is mandatory and only beckhoff steppers supported. So for us I expect we will never see anything in the motor load PDO.

[kivel]

@anderssandstrom ,gotcha, thanks the explanation.

[cdn-lnk]

Happy new year guys,

What is motor load showing when not running in vector mode, guess 0.0?

I tested it on velocity direct mode, it reports a number between 0 and 90 degrees.
Seems to work normally; trying to hold the motor shaft, preventing the load from moving or increasing the speed, increases the reported value.

How it motor load even determined for a stepper?

My best guess (given it works on velocity direct): it is calculating the phase difference between the voltage and current sinoidals.

But I'm not sure on how precise/accurate it is, or even if the calculation is the same for different modes.

[anderssandstrom]

@cdn-lnk, thanks for testing. That sounds very useful.