Inputs

Variable name

Description

rAxis

Data type: REFERENCE TO ST_AxisInterface

Reference to any axis that is controlled via the AxisDriverAllUserFCBs function block.

eVelocityAxisMode

Data type: E_AxisMode

Selection from the following velocity mode types:

  • VELOCITY
  • USERMODE_FCB6

lrStandstillThreshold

 

Data type: LREAL

Unit: mm/s

Limit speed below which idle state is assumed. Sets the xStandstill variable to TRUE.

lrGearCorrectionFactor

Data type: LREAL

Correction factor for adaptation to mechanical inaccuracies, for example