stUserInterface.stVelocity

stIN

xActivate

Activating the mode

Initial value: FALSE

xStart

Start or enable the movement

Initial value: FALSE

diVelocity

Setting the setpoint speed

diAcceleration

Setting the setpoint acceleration

diDeceleration

Setting the setpoint deceleration

diRapidStopDeceleration

Setting of deceleration if xFastStop is set

 

stOUT

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 is 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

 

stConfig

uiMaxMotorCurrent

Current limit symmetrical – 8600-04hex

uiMaxMotorSpeed

(reserved)

eEncoderFeedbackConfiguration

Operating behavior:

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

diMaxVelocityPositive

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

Initial value: 10000000

diMaxVelocityNegative

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

Initial value: -10000000

diMaxAcceleration

Acceleration limit – 8580-04hex

Initial value: 10000000

diMaxDeceleration

Deceleration limit – 8580-06hex

Initial value: 10000000

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)

– 8500-01hex

Initial value: 2 → 0

diVelocityControllerSetpoint

Speed control setpoint (with uidVelocityController := 1) – 8500-03hex

uiVelocityControllerP_Action

(reserved)

uiVelocityControllerI_Action

(reserved)

uiVelocityControllerD_Action

(reserved)

uiSupplyVoltage_UndervoltageWarningLevel

Power supply voltage warning lower limit – 8680-04hex

uiSupplyVoltage_OvervoltageWarningLevel

Power supply voltage warning upper limit – 8680-05hex

uiSupplyVoltage_UndervoltageErrorLevel

Power supply voltage fault lower limit – 8680-06hex

uiSupplyVoltage_OvervoltageErrorLevel

Power supply voltage fault upper limit – 8680-07hex

eEncoderFeedbackConfiguration

 

stConfig.stIN

xWriteConfig

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

After writing, the variable is reset automatically.

xReadConfig

(reserved)

xResetError

eParameter

udiAcyclData_RequestData

 

stConfig.stOUT

xWriteDone

The variables of the have been written (positive edge)

xReadDone

(reserved)

xError

(internal)

bErrorNumber

(internal)

xBusy

udiAcyclData_ResponseData

(internal)