OUT

Variable name

Description

xConnected

Data type: BOOL

  • TRUE: Communication connection to the controller exists.
  • FALSE: There is no communication connection to the controller.

xPowered

Data type: BOOL

  • TRUE: Output stages enabled (provide output voltage)
  • FALSE: Output stages not enabled

xReady

Data type: BOOL

  • TRUE: Ready for control by the controller
  • FALSE: Not ready for control by the controller

xReferenced

Data type: BOOL

  • TRUE: Inverter is referenced
  • FALSE: Inverter not referenced

INFORMATION: The referencing bit always refers to the position encoder. For encoder source "Motor encoder and low-resolution EtherCAT® encoder", this is the MOVIKIT® EncoderInterface, for encoder source "Motor encoder and external encoder", this is encoder 2 connected to the inverter, and for "Motor encoder", this is encoder 1 connected to the inverter.

xSetpointActive

Data type: BOOL

  • TRUE: Setpoints are processed
  • FALSE: Setpoints are not processed

xSafeStop

Data type – BOOL

  • TRUE – One axis group member is stationary (STO active)
  • FALSE – No axis group member is stationary (STO is not active)

xPositionValid

Data type – BOOL

  • TRUE – Encoder position is valid
  • FALSE – Encoder fault is present
  • (e.g. due to a bird strike)

wDigitalInputs

Data type – WORD

State of the digital inputs

INFORMATION:
Bit 0 – DI 00 axis group member 1
Bit 1 – DI 01 axis group member 1
...
Bit 15 – DI 03 axis group member 4

lrActualTorque

Data type: LREAL – Floating-point number

Actual torque (1.0 = 100% MN)

eActualInverterMode

Data type: E_INVERTERMODE

Operating mode of the inverter (FCB of the inverter):

  • Unknown
  • Default
  • OutputDisabled (FCB 01)
  • ManualMode (FCB 04)
  • Stop (FCB 02)
  • Homing (FCB 12)
  • JogMode (FCB 20)
  • BrakeTest (FCB 21)
  • Positioning (FCB 09)
  • PositioningInterpolated (FCB10)
  • Velocity (FCB 05)
  • VelocityInterpolated (FCB 06)
  • Torque (FCB 07)
  • TorqueInterpolated (FCB 08)
  • MotorParamMeasurement (FCB 25)
  • PosHoldCtrl (FCB 19)
  • RotorPosIdentification (FCB 18)
  • ApplicationStop (FCB 13)
  • EmergencyStop (FCB 14)
  • UserStop (FCB 26)

Library: SEW DeviceHandler Interfaces

usiErrorID

Data type – USINT

Error ID

usiErrorSubID

Data type – USINT

Suberror ID

xSimulation

Data type – BOOL

  • TRUE – Simulation activated
  • FALSE – Simulation not activated