stUserInterface.stFOCTorque

xActivate (FOCTorque mode)

Activating the mode

Initial value: FALSE

xStart (FOCTorque mode)

Start or enable the movement

Initial value: FALSE

diRapidStopDeceleration (FOCTorque mode)

Setting of the deceleration if the xFastStop is set

iTargetCurrentForTorqueControl (FOCTorque mode)

Sets the setpoint current for the current controller of the stepper and thus the setpoint torque implicitly

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

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)