ToPG

Mean value of the actual values of all subordinate axis group members transmitted to the profile generator via the PositioningInterpolated interface.

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)

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)

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