FromPG

Setpoints transmitted by the profile generator to the controller via the PositioningInterpolated interface.

The dynamic parameters are scaled in user units.

Variable name

Description

xActivate

Data type: BOOL

  • TRUE: Activate
  • FALSE: Deactivate
    • If xActivate is set to "FALSE" and lrStopDecelerationis " ≤ 0, the operating mode stops at the last setpoint position and speed and acceleration go to 0.
    • If xActivate is set to "FALSE" and lrStopDeceleration" is > 0, profile generation stops with the deceleration lrStopDeceleration and the set jerk lrStopJerk.

lrPosition

Data type: LREAL

Position

lrVelocityPrecontrol

Data type: LREAL

Precontrol value of speed

lrAccelerationPrecontrol

Data type: LREAL

Precontrol value of acceleration

lrTorquePrecontrol

Data type: LREAL

Precontrol value of torque in [1/Mn]

lrIntertiaScale

Data type: LREAL

Inertia scaling in [kg*m2]

lrTorqueLimit

Data type: LREAL

Torque limit (1.0 = 100% MN)