xMcbRdy

BOOL

Indicates the state of Motor Circuit Breaker (MCB). Mapped to the physical input where the corresponding auxiliary contact of the MCB is connected.

diActlVelo

DINT

Indicates the velocity of the drive in rpm. This variable is already mapped to the object Velocity actual value in the tab CANopen I/O mapping of the device editor.

diActPos

DINT

Indicates the position of the drive. This variable is already mapped to the object Positon actual value in the tab CANopen I/O mapping of the device editor.

xCmdEnPwr

BOOL

Enables the power stage of the drive.

xCmdRst

BOOL

Resets the drive in case of an error state.

xCmdStop

BOOL

Stops the drive.

xCmdJogFwd

BOOL

Jogs the drive in a forward direction.

xCmdJogRev

BOOL

Jogs the drive in a reverse direction.

xCmdJogFast

BOOL

Defines the velocity setpoint (fast or slow) for jog operation.

diSetJogDist

DINT

Defines the distance to move for one interval on jog operation. If the value is set to 0, continuous motion is used.

iWaitTimeJog

INT

Defines the time delay in ms for change to continuous motion during jog operation via distance.

diSetVeloJogSlow

DINT

Velocity setpoint for jog operation at slow speed.

diSetVeloJogFast

DINT

Velocity setpoint for jog operation at fast speed.

xCmdMovVelo

BOOL

Starts the drive with continuous velocity

xCmdMovRel

BOOL

Starts the drive for relative positioning

xCmdMovAbs

BOOL

Starts the drive for absolute positioning

diSetVeloMovVelo

DINT

Velocity setpoint for velocity mode in rpm.

diSetVeloMovRel

DINT

Velocity setpoint for relative positioning in rpm.

diSetVeloMovAbs

DINT

Velocity setpoint for absolute positioning in rpm.

diSetDistMovRel

DINT

Distance for relative positioning in increments.

diSetPosMovAbs

DINT

Target position for absolute positioning in increments.

xCmdHoming

BOOL

Starts homing operation.

diSetHomePos

DINT

Position to set if homing is finished.

uiSetHomeMod

UINT

Defines the method for homing operation.

diSetVeloHome

DINT

Velocity setpoint for search of the reference switch in rpm.

diSetVeloOutHome

DINT

Velocity setpoint for movement back to edge of reference switch in rpm.

xStatEnbl

BOOL

Indicates the state of the power stage.

wErrID

WORD

Indicates the error ID of the detected error. Refer to the Lexium 28 Library Function Blocks Software Manual.

xErr

BOOL

Indicates that an error state exists.

xVeloActv

BOOL

Indicates that the continuous velocity operation is active.

xRelActv

BOOL

Indicates that the relative positioning operation is active.

xAbsActv

BOOL

Indicates that the absolute positioning operation is active.

xHomeActv

BOOL

Indicates that the homing operation is active.

xJogActv

BOOL

Indicates that the jog operation is active.

xComOk

BOOL

Indicates the communication state of the device.

TRUE = communication state operational

FALSE = communication state not operational

eComSta

CIA405.DEVICE_STATE

Communication state of the device. For information on the enumeration, refer to the CIA405 Library Guide (see EcoStruxure Machine Expert Online Help under CoDeSys Libraries/CAA Libraries/CAA_CiA405.library).