Coupling monitoring (CouplingObserver)

Variable name

Description

xEnable

Data type: BOOL

  • TRUE: Activate coupling monitoring.
  • FALSE: Deactivate coupling monitoring.

xDeleteDistance

Data type: BOOL

  • TRUE: Reset encoder difference.
  • FALSE: Do not reset encoder difference.

xDeleteDistanceWithEnableEdge

Data type: BOOL

  • TRUE: Reset encoder difference when setting xEnable.
  • FALSE: Do not reset encoder difference when setting xEnable.

lrAbsoluteErrorDistanceWindow

Data type: LREAL- floating-point number

Permitted difference between the mean position value of all motor encoders and the mean position value of all external encoders. Set the value "0" to deactivate.

lrAbsoluteWarningDistanceWindow

Data type: LREAL- floating-point number

Permitted difference between the mean position value of all motor encoders and the mean position value of all external encoders. Set the value "0" to deactivate.

lrSlipRelationErrorWindow

Data type: LREAL- floating-point number

Allowed slip, relative to the movement of the motor encoder.

lrSlipRelationWarningWindow

Data type: LREAL- floating-point number

Allowed slip, relative to the movement of the motor encoder.

lrSlipDistancePeriod

Data type: LREAL- floating-point number

When the slip period has ended, the slip is reset. If the parameters "Slip warning window" (lrSlipRelationWarningWindow) or "Slip error window" (lrSlipRelationErrorWindow) are used, a value > 0 must be set for the slip period, which is approximately 1/10 of a travel cycle.

lrShiftValueForHighResEncoder

Data type: LREAL- floating-point number

Offset for motor encoder information