Inputs

rNodeMaster

Data type: I_NodeMaster

Interface to the master function block

rItfToWheelLeft

Data type: I_InterfaceToDrive3

Interface to the left axis

rItfToWheelRight

Data type: I_InterfaceToDrive3

Interface to the right axis

rItfToEncoder

Data type: I_InterfaceToDrive3

Interface to the rotary encoder

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

xAxisDirInversionLeft

Data type: BOOL

• TRUE: Inverts the direction of rotation of the left axis.
• FALSE: Does not invert the direction of rotation of the left axis.

xAxisDirInversionRight

Data type: BOOL

• TRUE: Inverts the direction of rotation of the right axis.
• FALSE: Does not invert the direction of rotation of the right axis.

lrAligningVelocityLimit

Data type: LREAL

Unit: mm/s

Maximum alignment speed (rotary movement) during the alignment process

lrAligningDeceleration

Data type: LREAL

Unit: mm/s²

Deceleration of the rotary movement

lrAligningStopDistance

Data type: LREAL

Unit: mm

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.

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