Substructures stUserInterface

The substructures of ST_Stepper are briefly described in the following table. For further information, refer to chapter Variables used.

Substructure	Meaning
`ST_Stepper.stBasic`	`ST_Stepper.stBasic` is divided into `stIN` and `stOUT`. `stIN` is the structure for error acknowledgment. `stOUT` is the structure for monitoring.
`ST_Stepper.stConfig`	`ST_Stepper.stConfig` contains the mode-independent variables.
`ST_Stepper.stInverter`	`ST_Stepper.stInverter` is used internally for control and feedback of the peripheral module’s state machine. `ST_Stepper.stInverter` may only be used for diagnostic purposes.
`ST_Stepper.stHome`	`ST_Stepper.stHome` is used for homing mode. The reference is made either to a sensor connected to the peripheral module’s digital inputs or to the current position. The settings for the mode are specified in `ST_Stepper.stHome.stConfig`.
`ST_Stepper.stVelocity`	`ST_Stepper.stVelocity` is used for open loop velocity mode to allow the motor to rotate at a desired speed and acceleration/deceleration. The speed is specified in 10000 increments/s. This corresponds to one revolution per second. The Operating behavior of the mode can be influenced via `stStepper.stVelocity.stConfig.eEncoderFeedbackConfiguration`.
`ST_Stepper.stVelocity.stConfig`	The parameter settings are specified in `ST_Stepper.stVelocity.stConfig`.
`ST_Stepper.stPostioning`	`ST_Stepper.stPostioning` is used for open loop and pseudo-closed loop to send the motor to a position with a desired speed and acceleration/deceleration. The Operating behavior of the mode can be influenced via `stStepper.stPositioning.stConfig.eEncoderFeedbackConfiguration`.

The advanced modes that require a license are shown in the following table:

Substructure	Meaning
`ST_Stepper.stFOCPositioning`	The motor is in closed loop positioning control (based on the read out encoder values) and attempts to reach the specified setpoint position with the specified setpoint speed and with the current specified in stFOCVelocity.stConfig.diCurrentControllerCurrentLimit.
`ST_Stepper.stFOCVelocity`	The motor is in closed loop speed control (based on the read out encoder values) and attempts to reach and maintain the specified setpoint speed with the current specified in `stConfig.diCurrentControllerCurrentLimit`.
`ST_Stepper.stFOCTorque`	The motor is in current control and is controlled via the setpoint current `stIn.iTargetCurrentForTorqueControl`. The value specified there indirectly also corresponds to the torque.