stUserInterface.stPositioning

xActivate

Activating the mode

Initial value: FALSE

xStart

Start or enable the movement

Initial value: FALSE

xIntEnable

If the motion is initiated using xStart, you can (in combination with parameters xCheatOnStartSequence:= TRUE)

Enter the target position in diPositioning and have it executed very quickly via xIntEnable.

Initial value: FALSE

diPosition

Setting the setpoint position

diVelocity

Setting the setpoint speed

diAcceleration

Setting the setpoint acceleration

diDeceleration

Setting the setpoint deceleration

diRapidStopDeceleration

Setting of the deceleration if xFastStop is set.

uiBusyState

Specification of the internal state of the mode for debugging:

0: Initial state of the internal state machine

1: Start received

2: Writing the parameters (only if xUpdateConfigbeforeStartExternal set)

3: Startup process of movement initiation

4: Reserved

5: Execution of the movement

xBusy

xStart received; mode is being executed

xBusyConfigWrite

Writing mode parameters

xBusyExecuteMovement

Execution of the movement

xTargetReached

Target position reached

Initial value: FALSE

uiMaxMotorCurrent

Motor current max. – 8C00-04_hex

Initial value: Motor-dependent

uiMaxMotorSpeed

(reserved)

eEncoderFeedbackConfiguration

Operating behavior – 8F00-01_hex:

• No feedback: Open loop without encoder feedback
• Open loop with tracking: Open loop with encoder feedback
• Pseudo closed loop

Initial value: No Feedback

diPositiveLimitSwitch

Software position limit positive – 8480-05_hex

Initial value: 8388607

diNegativeLimitSwitch

Software position limit negative – 8480-06_hex

Initial value: -8388608

diRangeLimitPositiveDirection

Modulo function over range limit positive direction – 8480-07_hex

Initial value: 8000000

diRangeLimitNegativeDirection

Modulo function over negative direction range limit – 8480-08_hex

Initial value: -8000000

diInPositionWindow

Target window so that the target position is considered reached – 8480-09_hex

Initial value: 10

diLagErrorWarningLimit

(reserved)

diLagErrorErrorLimit

(reserved)

diCurrentControllerCurrentLimit

Is mapped to StromLimit in the process data

Initial value: Motor-dependent

uiCurrentController_P_Action

Current control P component – 8600-06_hex

Initial value: Motor-dependent

uiCurrentController_I_Action

Current control I component – 8600-06_hex

Initial value: Motor-dependent

uiCurrentController_FilterFactor

Current control filter factor (to reduce high-frequency interference at the current sensor) – 8600-09_hex

Initial value: 1

uiPositionControllerP_Action

Position control P component – 8480-13_hex

Initial value: 120

uiPositionControllerI_Action

Position control I component – 8480-14_hex

Initial value: 80

uiPositionControllerD_Action

Position control D component – 8480-15_hex

Initial value: 0

uiPositionControllerShiftFactor

(reserved)

uiPositionControllerPseudoClosedLoopMaxRetries

Number of attempts to retry pseudo closed loop mode until an error is output. At 0, repeated indefinitely. Value range 0-100 – 8480-17_hex

Initial value: 0

udiVelocityController

Speed control configuration –

0: Speed control via the PtP position and speed profile (for process data)

1: Speed control only via the speed profile (see diVelocityControllerSetpoint)

– 8500-01_hex

Initial value: 2

diVelocityControllerSetpoint

Speed control setpoint (at uidVelocityController := 1) – 8500-03_hex

uiVelocityControllerP_Action

Speed control P component – 8500-11_hex

Initial value: 100

uiVelocityControllerI_Action

Speed control P component – 8500-12_hex

Initial value: 0

uiVelocityControllerD_Action

(reserved)

diMaxVelocityPositive

Speed control limit positive; the positive limit value for the speed setpoint – 8500 – 04_hex

Initial value: 10000000

diMaxVelocityNegative

Speed control limit negative; the negative limit value for the speed setpoint – 8500 – 05_hex

Initial value: -10000000

diMaxAcceleration

Acceleration limit – 8580-04_hex

Initial value: 10000000

diMaxDeceleration

Deceleration limit – 8580-06_hex

Initial value: 10000000

uiSupplyVoltage_UndervoltageWarningLevel

Power supply voltage warning lower limit – 8680-04_hex

Initial value: Spannungs-abhängig

uiSupplyVoltage_OvervoltageWarningLevel

Power supply voltage warning upper limit – 8680-05_hex

Initial value: voltage-dependent

uiSupplyVoltage_UndervoltageErrorLevel

Power supply voltage fault lower limit – 8680-06_hex

Initial value: Svoltage-dependent

uiSupplyVoltage_OvervoltageErrorLevel

Power supply voltage fault upper limit – 8680-07_hex

Initial value: voltage-dependent

eEncoderFeedbackConfiguration

Open loop without encoder feedback and with encoder feedback – 8F00-01_hex

Initial value: Open Loop ohne Feedback

xCheatOnStartSequence

Parameters to start positioning faster after removing and resetting the xEnables.

Initial value: FALSE

xWriteConfig

Initiation of manual writing of the mode parameters – prerequisite xActivate = TRUE, xStart= FALSE

After writing, the variable is reset automatically

xReadConfig

(reserved)

xResetError

(internal)

eParameter

(internal)

udiAcyclData_RequestData

(internal)

xWriteDone

The parameters of the mode have been written (positive edge)

xReadDone

(reserved)

xError

(internal)

bErrorNumber

(internal)

xBusy

udiAcyclData_ResponseData

(internal)