SkewLeveling

lrPGain

Data type: LREAL – Floating-point number

Factor for increasing skew balancing

eEnableSkewing

Data type – E_EnableSkewing

• Manually: xEnableSkewing enables skew correction.
• WithSetpointActive: Skew correction starts automatically when the inverters switch to control.

xVelDecLimiterON

Data type – BOOL

Limits the balance controller correction values for speed and deceleration:

• TRUE – Limit the speed and deceleration of "Skew priority" operating mode using lrSkewMaxMin and lrAccDecSkewMaxMin.
• FALSE – Do not limit the speed and deceleration of "Skew priority" operating mode.

xAccLimiterON

Data type – BOOL

Limits the balance controller correction values for acceleration:

• TRUE – Limit acceleration using lrAccDecSkewMaxMin
• FALSE – Do not limit acceleration.

lrAccDecMaxMin

Data type: LREAL – Floating-point number

Acceleration or deceleration limitation of the correction values of the balance controller (in user units)

lrVelMaxMin

Data type: LREAL – Floating-point number

Speed limitation of the balance controller correction values (in user units)

eEncSelector

Data type – E_SKEWLEVELING_ENCSELECTOR

Position source for "Skew priority" operating mode:

• MotorEncoders – Mean position value of the motors
• ExternalEncoders – Mean position value of the external encoders
• MotorAndExternalEncoders – Mean position value of the motors and external encoders

eOverloadGuard_EncSelector

Data type: E_SKEWLEVELINGOLGUARD_ENCSELECTOR

Speed source for overload protection:

• MotorEncoders – Speed of the motors
• ExternalEncoders – Speed of the external encoders
• MotorAndExternalEncoders – Speed combined from motors and external encoders
• ExternalEncodersFiltered – Speed of external encoder filtered by lrInputFilterTime_ExtEnc (integral time of encoder evaluation)

lrSkewErrorWindow

Data type: LREAL – Floating-point number

Window of the skew error (in user units)

When the value is set to "0", the skew error window is disabled.

lrSkewWindow

Data type – LREAL

Window for output xInSkewWindow (in user units)