Type:

data structure

Available as of:

V1.0.2.0

Inherits from:

-

Versions:

current version

i_etControlMode

ET_ControlMode

Operation mode of the crank module

In the Slide mode, the module realizes a typical crank drive.

In the Crank mode, the module realizes a normal axis drive with the output of linear position values at ST_Main. The operation mode of the crank module can only be switched in the idle state or NoOp.

i_ifDriveCrank

SystemConfigurationItf.IF_Drive

Rotary axis responsible for the motion.

This axis performs the motion and can be configured virtually or physical.

iq_lencEncoderCrank

SystemConfiguration.L_Enc

Encoder allocated to the rotary axis.

i_ifDriveSlide

SystemConfigurationItf.IF_Drive

Axis allocated to the slide. The drive is a pure auxiliary axis for the motion and the subsequent conversion (transformation) from a linear to a rotary motion. This is why this axis can only be configured as virtual axis.

iq_lencEncoderSlide

SystemConfiguration.L_Enc

Encoder allocated to the auxiliary axis.

i_ifMaster

SystemConfigurationItf.IF_Master

Master axis for the crank module. If the crank module has no master, this parameter is not allocated.

i_timMasterStop

TIME

The maximum period within which the i_ifMaster master must have stopped in the case of an error reaction SynchronStopEH or SynchronStopEL.

i_xHWLimitPos

BOOL

The signal of a hardware limit switch for the positive motion direction can be transferred here. The parameter must be written cyclically.

i_xHWLimitNeg

BOOL

The signal of a hardware limit switch for the negative motion direction can be transferred here. The parameter must be written cyclically.

i_xStart

BOOL

Start signal for all operating modes. Can be used instead of the command Start.

i_lrMotionActiveVelLimit

LREAL

Velocity as of which a motion is reported to q_xMotionActive.

i_etMotionActiveVelType

ET_MotionActiveVelType

Velocity mode for determining the motion for q_xMotionActive.

stReducedVelocity

PDL.ST_ReducedVelocity

Parameter for the functionality "Reduced velocity". The Operating modes NoOp, Homing, Manual, Multicam, Endless, Positioning, BrakeRelease and Additional support the feature "Reduced velocity".

q_etOpMode

ET_OpMode

Active operation mode of the axis module.

q_etState

ET_State

Active state of the axis module.

q_xDriveName

STRING[40]

Name of the slave axis

q_xDriveActive

BOOL

TRUE: The position control of the axis is activated.

q_xMotionActive

BOOL

TRUE: The axis is in motion according to the definition of i_lrMotionActiveVelLimit and i_etModtionActiveVelType.

q_xHomeOk

BOOL

TRUE: Homing has been performed successfully.

q_xSynchron

BOOL

TRUE: The axis synchronously follows the master.

q_xTransformationActive

BOOL

TRUE: The crank operation mode Crank is selected.

q_lrPosition

LREAL

The axis position. For the crank module, this is always the position of the crank axis (i_ifDriveCrank).

q_lrPositionX

LREAL

Master position

q_lrSlideLogPosition

LREAL

Logical position of the linear axis (i_ifDriveSlide).

q_lrSlideMechPosition

LREAL

Mechanical position of the linear axis (i_ifDriveSlide).

Unit: Length units

q_lrCrankLogPosition

LREAL

Logical position of the crank axis (i_ifDriveCrank).

q_lrCrankMechPosition

LREAL

Mechanical position of the crank axis (i_ifDriveCrank).

Unit: Degree

q_lrUserCrankMechPosition

LREAL

User-defined mechanical position of the crank axis.

Derived from q_lrCrankMechPosition by adding an offset and multiplication with a rotation direction (see iq_stCrankData.lrUserMechPosOffset and iq_stCrankData.lrUserMechPosDirection).

Unit: Degree