Out

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

eGearingState

Data type – E_GEARING_STATE

State of the axis:

• STOPPED (0)
  The slave axis is desynchronized and does not follow the master axis.
• WAITING_FOR_STARTPOSITION (1)
  Synchronization is requested. The slave axis is waiting for a suitable master position.
• GEAR_IN (2)
  Synchronization is active. To synchronize with the master, the slave axis follows a transition function.
• ACTIVE (3)
  The slave axis is synchronized and follows the master axis.
• WAITING_FOR_STOPPOSITION (4)
  Desynchronization is requested. The slave axis is waiting for a suitable master position.
• GEAR_OUT (5)
  Desynchronization is active. To reach the stop position, the slave axis follows a transition function.

lrSetpPosition

Data type: LREAL – Floating-point number

Setpoint position

lrSetpVelocity

Data type: LREAL – Floating-point number

Target speed

lrSetpAcceleration

Data type: LREAL – Floating-point number

Setpoint acceleration

xSetSlaveValueDone

Data type – BOOL

• TRUE – Internal slave position has been set
• FALSE – Internal slave position has not been set