Inputs

rNodeMaster

Data type: I_NodeMaster

Interface to the master function block

rItfToDriving

Data type: I_InterfaceToDrive3

Interface to the travel axis (only for DriveSteer node)

rItfToSteering

Data type: I_InterfaceToDrive3

Interface to the steering axis

lrNodeCoordinateX

Data type: LREAL

Unit: mm

x-coordinate of the position of the steering axis

lrNodeCoordinateY

Data type: LREAL

Unit: mm

y-coordinate of the position of the steering axis

lrAligningVelocityLimit

Data type: LREAL

Unit: °/s

Maximum speed of the rotary movement during the alignment process

lrAligningDeceleration

Data type: LREAL

Unit: °/s²

Maximum change in speed during the alignment process

lrAligningStopDistance

Data type: LREAL

Unit: °

Tolerated target/actual deviation during a travel movement. If the value is exceeded, the vehicle stops and realigns the drive module.

lrAligningStopDistanceFctVelThreshold

Data type: LREAL

Unit: mm/s

Speed limit value. If the limit value is exceeded, the vehicle no longer stops for alignment.

lrAligningDistRemainderDeadTime

Data type: LREAL

Unit: s

Delay in position detection for the control block

lrAligningDeadBandThreshold

Data type: LREAL

Unit: °

Limit value of the relative position (in relation to the target position). The alignment process is terminated below the limit value.

lrAligningKdFactor

Data type: LREAL

K_d factor for D component

lrWorkspaceLimitMax

Data type: LREAL

Unit: °

Maximum work envelope of the steering angle

lrWorkspaceLimitMin

Data type: LREAL

Unit: °

Minimum work envelope of the steering angle