ToSuperAxis

Mean value of the actual values of all related axis group members transmitted to the higher-level axis group member via the VelocityInterpolated interface.

The BOOLEAN variables are linked by logical operator AND.

The dynamic parameters are scaled in user units.

Variable name

Description

xActive

Data type – BOOL

  • TRUE – Activated
  • FALSE – Not activated

lrPosition

Data type: LREAL – Floating-point number

Position

lrVelocity

Data type: LREAL – Floating-point number

Speed (velocity)

lrIntegralVelCtrlr

Data type: LREAL – Floating-point number

I component of the speed controller

lrAcceleration

Data type: LREAL – Floating-point number

Acceleration

lrTorque

Data type: LREAL – Floating-point number

Torque in percent of the nominal motor torques
(1.0 = 100% MN)

lrAdvancedSendObject

Data type – LREAL – Floating-point number

Actual position transmitted to the axis or axis group from an external source

xReferenced

Data type – BOOL

  • TRUE – All relevant encoders are referenced
  • FALSE – Not all the relevant encoders are referenced

xSetpointActive

Data type – BOOL

  • TRUE – Setpoints are processed
  • FALSE – Setpoints are not processed