Out

The dynamic parameters are scaled in user units of the slave axis.

Variable name

Description

xModeActive

Data type: BOOL

  • TRUE: Operating mode activated.
  • FALSE: Operating mode not activated.

xProfileActive

Data type: BOOL

  • TRUE: Profile generation active
  • FALSE: Profile generation inactive

eGearingState

Data type: E_GEARING_STATE

State of the axis:

  • STOPPED (0)
    The slave axis is desynchronized and does not follow the master axis.
  • WAITING_FOR_STARTPOSITION (1)
    Synchronization is requested. The slave axis is waiting for a suitable master position.
  • GEAR_IN (2)
    Synchronization is active. To synchronize with the master, the slave axis follows a transition function.
  • ACTIVE (3)
    The slave axis is synchronized and follows the master axis.
  • WAITING_FOR_STOPPOSITION (4)
    Desynchronization is requested. The slave axis is waiting for a suitable master position.
  • GEAR_OUT (5)
    Desynchronization is active. To reach the stop position, the slave axis follows a transition function.

lrSetpPosition

Data type: LREAL

Setpoint position

lrSetpVelocity

Data type: LREAL

Setpoint speed

lrSetpAcceleration

Data type: LREAL

Setpoint acceleration

xSetSlaveValueDone

Data type: BOOL

  • TRUE: Internal slave position has been set
  • FALSE: Internal slave position has not been set