Inputs

Variable name

Description

xPowered

Data type: BOOL

  • TRUE: The axis is switched on.
  • FALSE: The axis is switched off.

xReady

Data type: BOOL

  • TRUE: The axis is ready for switch on (no fault, no STO).
  • FALSE: The axis is not ready for switch on.

xStandstill

Data type: BOOL

  • TRUE: The axis is at a standstill.
  • FALSE: The axis is not at a standstill.

xReferenced

Data type: BOOL

  • TRUE: The axis is referenced.
  • FALSE: The axis is not referenced.

xPositionValid

Data type: BOOL

  • TRUE: The position values of the axis are valid.
  • FALSE: The position values of the axis are invalid.

xError

Data type: BOOL

  • TRUE: The axis reports a fault.
  • FALSE: The axis does not report a fault.

dwErrorID

Data type: DWORD

Number of the fault

lrActualPosition

Data type: LREAL

Unit: mm

Actual position of the axis

lrActualVelocity

Data type: LREAL

Unit: mm/s

Actual speed of the axis