Config

eErrorReaction

Data type: E_ERRORREACTION

Error response of profile generation:

• ABORT
• Profile generation stops abruptly without a ramp at the current setpoint position.
• APPLICATIONSTOP_DECELERATION
• Profile generation stops with the deceleration specified under application limits.
• EMERGENCYSTOP_DECELERATION
• Profile generation stops with the specified emergency stop deceleration.
• FOLLOWING_AXIS
• Profile generation follows the actual position.

eSetMotionPositionMode

Data type: E_SETMOTIONPOSITIONMODE

• DEACTIVATED: It is not possible to set the setpoint position.
• ACTUALPOSITION: The setpoint position is set to the current position.
• MOTIONPOSITIONSETPOINT: The setpoint position is set to the value set in lrMotionPositionSetpoint.
• ACTUALPOSITION_CONTROLLOOP: Only possible if the software module or the PositionController add-on is used. Here, the setpoint position is set to the currently time-adjusted actual position. This allows the motion to be continued.