stSetpointsPLCUnits
Setpoints generated by profile generation.
The dynamic parameters are scaled in PLC units.
INFORMATION
PLC units are defined as follows:
• Position (PLC unit) = position (user unit) x 10Number of decimal places
• Speed (PLC unit) = position difference (PLC unit) / ms
• Acceleration (PLC unit) = speed difference (PLC unit) / ms / ms
Variable name | Description |
|---|---|
diPosition | Data type: DINT |
Setpoint position | |
lrVelocity | Data type: LREAL – Floating-point number |
Speed (velocity) | |
lrAcceleration | Data type: LREAL – Floating-point number |
Acceleration |
