Outputs

xEnable_EmergencyStop

Data type: BOOL

• TRUE: The software module does not execute an emergency stop using the set emergency stop ramp (precondition for enable).
• FALSE: The software module executes an emergency stop using the set emergency stop ramp

xEnable_ApplicationStop

Data type: BOOL

• TRUE: The software module does not execute an application stop with the deceleration set under the application limits (precondition for enable).
• FALSE: The software module executes an application stop with the deceleration set under the application limits.

xStart

Data type: BOOL

• TRUE: Enables the start of the axis.
• FALSE: Does not enable the start of the axis.

lrPosition

Data type: LREAL

Unit: mm

Position setpoint

lrVelocity

Data type: LREAL

Unit: mm/s

Speed setpoint

lrAcceleration

Data type: LREAL

Unit: mm/s²

Acceleration setpoint

lrDeceleration

Data type: LREAL

Unit: mm/s²

Deceleration setpoint

lrJerk

Data type: LREAL

Unit: mm/s³

Jerk limiting

xActivateModeVelocity

Data type: BOOL

• TRUE: Activates the "Velocity" mode.
• FALSE: –

xActivateModePositioning

Data type: BOOL

• TRUE: Activates the "Positioning" mode.
• FALSE: –