Status (Out)

The dynamic parameters are scaled in user units.

Variable name

Description

lrSetpPosition

Data type: LREAL

Setpoint position

lrDeltaPosition

Data type: LREAL

Position difference to the last PLC cycle in PLC units

lrSetpVelocity

Data type: LREAL

Target speed

lrSetpAcceleration

Data type: LREAL

Setpoint acceleration

xDone

Data type: BOOL

  • TRUE: The process is completed.
  • FALSE: The process is not completed.

xInPosition

Data type: BOOL

  • TRUE: Specified position reached
  • The xInPosition variable can only be "TRUE" if homing has been carried out.
  • FALSE: Specified position not reached

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

xStopped

Data type: BOOL

  • TRUE: Profile generation stopped.
  • FALSE: Profile generation active.

eHomingState

Data type: E_HOMINGSTATE

Referencing step.

  • Init
  • AlignEncoder
  • Homing
  • WriteConfigToAxesForReadjustment
  • Readjustment
  • ZeroiseEncoderPosition
  • ZeroisePGAndTravelToHomePosition