"Setpoints" diagnostic structure

xEnableEmergencyStop

Data type: BOOL

• TRUE: Enables the emergency stop.
• FALSE: The emergency stop (with emergency stop ramp) is initiated.

xEnableFeed

Data type: BOOL

• TRUE: Enables the setpoints.
• FALSE: The stop (with standard ramp) is initiated.

xEnablePower

Data type: BOOL

• TRUE: Enables the axis.
• FALSE: Disconnects the interface of the axis. If the disconnection is triggered by the movement, the effect corresponds to that of an emergency stop.

lrSetpVeloMasterXInput

Data type: LREAL

Unit: mm/s

Speed in x-direction (forwards/reverse)

lrSetpVeloMasterYInput

Data type: LREAL

Unit: mm/s

Speed in y-direction (left/right)

lrSetpOmegaMasterInput

Data type: LREAL

Unit: 1/s

Speed of rotation

lrSetpOmegaMasterInputDeg

Data type: LREAL

Unit: °

Speed of rotation in degrees

lrAligningToleranceFactor

Data type: LREAL

The factor shows the angular deviation in relation to the parameterized AligningStopDistance value. If > 1, a stop is performed for the purpose of alignment.

Range of values 0 – 1.

lrEndOfWorkspaceFactor

Data type: LREAL

The factor shows the extent to which the current angle, if outside the minimum range of -90° – 90°, has approached the limits of the work envelope. Range of values -1 – 1.

lrLimitFactor

Data type: LREAL

The factor shows the extent to which the setpoints are limited relative to the default value.

lrSetpVeloMasterLtdX

Data type: LREAL

Unit: mm/s

Limited speed in x-direction (forwards/reverse)

lrSetpVeloMasterLtdY

Data type: LREAL

Unit: mm/s

Limited speed in y-direction (left/right)

lrSetpOmegaMasterLtd

Data type: LREAL

Unit: 1/s

Limited speed of rotation

lrSetpOmegaMasterLtdDeg

Data type: LREAL

Unit: °

Limited speed of rotation in degrees

xAligningNecessary

Data type: BOOL

• TRUE: An alignment process is required.
• FALSE: No alignment process is required.

xAligningRequested

Data type: BOOL

• TRUE: The alignment process is initiated because the ratio of the angular deviation to the parameterized AligningStopDistance value is > 1.
• FALSE: No alignment process requested.