FromPG
Setpoints transmitted by the profile generator via the PositioningInterpolated interface.
The dynamic parameters are scaled in user units.
Variable name | Description |
|---|---|
xActivate | Data type: BOOL |
| |
lrPosition | Data type: LREAL |
Interpolated setpoint position | |
lrVelocityPrecontrol | Data type: LREAL |
Precontrol value of speed | |
lrAccelerationPrecontrol | Data type: LREAL |
Precontrol value of acceleration | |
lrTorquePrecontrol | Data type: LREAL |
Precontrol value of torque in [1/MN] | |
lrIntertiaScale | Data type: LREAL |
Inertia scaling in [kg*m2] | |
lrTorqueLimit | Data type: LREAL |
Torque limit (1.0 = 100% MN) |
