Trace templates

 

The following trace templates are available for the software module with the specific trace variables specified in each case:

Skew
  • Trace recording with all position information in user units:
    • …_stSetpointValues.stFromPG.lrPosition: Interpolated setpoint position of the profile generator
    • …_stActValues.stToPG.lrPosition: Actual position of the software module
    • …astFromSubAxis[x].lrPosition: Position of the motor encoder of the axis group member x
    • …_astFromSubAxis[x].lrActPosExtFeedback: Position of the external encoder (encoder 2/EtherCAT®) of the axis group member x
  • Trace recording with values of the control technology in user units:
    • …_lrLagError: Lag error
    • … lrSkewError: Skew error
    • … lrWarningDistance: Position deviation between the motor encoder and the external encoder
    • … lrLagErrorCtrlr: Lag error related to the combined encoder position (is compensated by the control technology)
  • Trace recording with various speed information in user units:
    • …_stSetpointValues.stFromPG.lrVelocityPrecontrol: Interpolated setpoint speed of the profile generator
    • …_stActValues.stToPG.lrVelocity: Actual speed of the software module
    • …stMACManVal.stVelocityCorrection.lrSetp_AGMemberX: Speed offset of the individual axis group member x resulting from the skew
    • …_fbPositionController._stOut.stPosCtrlrManValues.lrVelocity: Speed offset resulting from the lag error
  • Trace recording with various error and warning bits:
    • …xError: Error in software module or in lower-level axis group member (can also be an inverter error)
    • …xLagError: Lag error
    • …xSkewError: Skew error
    • …stSkewLevelingOverloadGuard.xManVal_Limited: Overload guard active
  • Trace recording with inverter status (FCB). INFORMATION: Value -1 means that the lower-level axis group members are not in the same FCB.
  • Trace recording with relative actual torque of the individual axis group members (the value 0.9 means, for example, 90% Mnom of the motor)
  • Trace recording with interpolated setpoint acceleration of the profile generator in user units
Skew with anti-sway control:
  • Trace recording with all position information in user units:
    • …stModifiedSetpoints.lrPosition: Modified setpoint position of the profile generator resulting from the anti-sway control
    • …_stSetpointValues.stFromPG.lrPosition: Interpolated setpoint position of the profile generator
    • …_stActValues.stToPG.lrPosition: Actual position of the software module
    • …astFromSubAxis[x].lrPosition: Position of the motor encoder of the axis group member x
    • …_astFromSubAxis[x].lrActPosExtFeedback: Position of the external encoder (encoder 2/EtherCAT®) of the axis group member x
  • Trace recording with values of the control technology in user units:
    • …_lrLagError: Lag error
    • … lrSkewError: Skew error
    • … lrWarningDistance: Position deviation between the motor encoder and the external encoder
    • … lrLagErrorCtrlr: Lag error related to the combined encoder position (is compensated by the control technology)
  • Trace recording with various speed information in user units:
    • …stModifiedSetpoints.lrVelocity: Modified setpoint position of the profile generator resulting from the anti-sway control
    • …_stSetpointValues.stFromPG.lrVelocityPrecontrol: Interpolated setpoint speed of the profile generator
    • …_stActValues.stToPG.lrVelocity: Actual speed of the software module
    • …stMACManVal.stVelocityCorrection.lrSetp_AGMemberX: Speed offset of the individual axis group member x resulting from the skew
    • …_fbPositionController._stOut.stPosCtrlrManValues.lrVelocity: Speed offset resulting from the lag error
  • Trace recording with error and warning bits:
    • …xError: Error in software module or in lower-level axis group member (can also be an inverter error)
    • …xLagError: Lag error
    • …xSkewError: Skew error
    • …stSkewLevelingOverloadGuard.xManVal_Limited: Overload guard active
  • Trace recording with diagnostic signals for anti-sway control:
    • …xBusy: Anti-sway control busy
    • …lrDistanceHoistToCar: Relevant distance of the lifting trolley to the traveling trolley or relevant cable length for pendulum sway
    • …stManipulatedValues.lrVelocity: Speed offset to suppress the sway
  • Trace recording with the inverter status (FCB) INFORMATION: Value -1 means that the lower-level axis group members are not in the same FCB.
  • Trace recording with relative actual torque of the individual axis group members (0.9 means e.g. 90% Mnom of the motor)
  • Trace recording with various setpoint accelerations in user units:
    • …ModifiedSetpoints.lrAccDec: Modified setpoint acceleration of the profile generator resulting from the anti-sway control
    • …_stSetpointValues.stFromPG.lrAccelerationPrecontrol: Interpolated setpoint acceleration of the profile generator
Torque:
  • Trace recording with all position information in user units:
    • …_stSetpointValues.stFromPG.lrPosition: Interpolated setpoint position of the profile generator
    • …_stActValues.stToPG.lrPosition: Actual position of the software module
    • …astFromSubAxis[x].lrPosition: Position of the motor encoder of the axis group member x
    • …_astFromSubAxis[x].lrActPosExtFeedback: Position of the external encoder (encoder 2/EtherCAT®) of the axis group member x
  • Trace recording with values of the control technology in user units:
    • …_lrLagError: Lag error
    • … lrWarningDistance: Position deviation between the motor encoder and the external encoder
    • … lrLagErrorCtrlr: Lag error related to the combined encoder position (is compensated by the control technology)
  • Trace recording with relative actual torque of the individual axis group members (0.9 means e.g. 90% Mnom of the motor)
    • …_stActValues.astFromSubAxis[x].lrTorque: Relative actual torque of the axis group member x
  • Trace recording with various control-related correcting values:
    • …stVelocityCorrection.lrSetp_AGMemberX: Speed offset of the axis group member x resulting from the torque difference
    • …_fbPositionController_stOut.stPosCtrlrManValues.lrVelocity: Speed offset resulting from the lag error
  • Trace recording with various speed information in user units:
    • …_stSetpointValues.FromPG.lrVelocityPrecontrol: Interpolated setpoint speed of the profile generator
    • …_stActValues.stToPG.lrVelocity: Actual speed of the software module
  • Trace recording with error and warning bits:
    • …xError: Error in software module or in lower-level axis group member (can also be an inverter error)
    • …xLagError: Lag error
  • Trace recording with inverter status (FCB). INFORMATION: Value -1 means that the lower-level axis group members are not in the same FCB.
  • Trace recording with interpolated setpoint acceleration of the profile generator in user units
Torque with anti-sway control:
  • Trace recording with all position information in user units:
    • …stModifiedSetpoints.lrPosition: Modified setpoint position of the profile generator resulting from the anti-sway control
    • …_stSetpointValues.stFromPG.lrPosition: Interpolated setpoint position of the profile generator
    • …_stActValues.stToPG.lrPosition: Actual position of the software module
    • …astFromSubAxis[x].lrPosition: Position of the motor encoder of the axis group member x
    • …_astFromSubAxis[x].lrActPosExtFeedback: Position of the external encoder (encoder 2/EtherCAT®) of the axis group member x
  • Trace recording with values of the control technology in user units:
    • …_lrLagError: Lag error
    • … lrWarningDistance: Position deviation between the motor encoder and the external encoder
    • … lrLagErrorCtrlr: Lag error related to the combined encoder position (is compensated by the control technology)
  • Trace recording with relative actual torque of the individual axis group members (0.9 means e.g. 90% Mnom of the motor)
    • …_stActValues.astFromSubAxis[x].lrTorque: Relative actual torque of the axis group member x
  • Trace recording with various control-related correcting values:
    • …stVelocityCorrection.lrSetp_AGMemberX: Speed offset of the axis group member x resulting from the torque difference
    • …_fbPositionController_stOut.stPosCtrlrManValues.lrVelocity: Speed offset resulting from the lag error
  • Trace recording with various speed information in user units:
    • …stModifiedSetpoints.lrVelocity: Modified setpoint speed of the profile generator resulting from the anti-sway control
    • …_stSetpointValues.FromPG.lrVelocityPrecontrol: Interpolated setpoint speed of the profile generator
    • …_stActValues.stToPG.lrVelocity: Actual speed of the software module
  • Trace recording with inverter status (FCB) INFORMATION: Value -1 means that the lower-level axis group members are not in the same FCB.
  • Trace recording with various setpoint accelerations in user units:
    • …ModifiedSetpoints.lrAccDec: Modified setpoint acceleration of the profile generator resulting from the anti-sway control
    • …_stSetpointValues.stFromPG.lrAccelerationPrecontrol: Interpolated setpoint acceleration of the profile generator
  • Trace recording with error and warning bits:
    • …xError: Error in software module or in lower-level axis group member (can also be an inverter error)
    • …xLagError: Lag error
  • Trace recording with diagnostic signals for anti-sway control:
    • …xBusy: Anti-sway control busy
    • …lrDistanceHoistToCar: Relevant distance of the lifting trolley to the traveling trolley or also the relevant cable length for pendulum sway
    • …stManipulatedValueslrVelocity: Speed offset to suppress the sway