Status (Out)

The dynamic parameters are scaled in user units.

Variable name

Description

lrSetpPosition

Data type: LREAL – Floating-point number

Setpoint position

lrDeltaPosition

Data type: LREAL – Floating-point number

Position difference to the last PLC cycle in PLC units

lrSetpVelocity

Data type: LREAL – Floating-point number

Target speed

lrSetpAcceleration

Data type: LREAL – Floating-point number

Setpoint acceleration

xDone

Data type – BOOL

  • TRUE – Process is complete
  • FALSE – Process is not complete

xInPosition

Data type – BOOL

  • TRUE – Specified position reached
  • The xInPosition variable can only be "TRUE" if homing has been carried out.
  • FALSE – Specified position not reached

xModeActive

Data type – BOOL

  • TRUE – Operating mode activated
  • FALSE – Operating mode not activated

xProfileActive

Data type – BOOL

  • TRUE – Profile generation active
  • FALSE – Profile generation inactive

xStopped

Data type – BOOL

  • TRUE – Profile generation stopped
  • FALSE – Profile generation active

eHomingState

Data type – E_HOMINGSTATE

Referencing step.

  • Init
  • AlignEncoder
  • Homing
  • WriteConfigToAxesForReadjustment
  • Readjustment
  • ZeroiseEncoderPosition
  • ZeroisePGAndTravelToHomePosition