Type:

Data structure

Available as of:

V1.0.3.0

Inherits from:

-

Versions:

Current version

diNumberOfSlaves

DINT

Number of slave axis, where their velocity and / or acceleration should be limited.

diPositionGridSize

DINT

The function block discretely scans the profile of the slave axis for its calculation. For this purpose, equidistance points are set in the master period whose number is defined by the parameter diPositionGridSize. For example, if the master axis has a period of 360° and the diPositionGridSize = 100, then a scan is carried out every 3.6°. With higher values, a more accurate scanning of the profile is achieved, however when activating a new profile, one-off greater calculating efforts are necessary in the task being called up. Value range: 1 … 1000

diTimeGridSize

DINT

The POU function mode is based on a periodic extrapolation of the movement of the slave axes that is calculated by means of a time grid. The more scanning points, the more accurate the extrapolation and thus the observation of the specified limits. However, a more fine periodic grille is linked with a permanently increased calculating effort (the exploitation is carried out with each RTB cycle). Value range: 0 (lowest accuracy, smallest calculating effort) … 100 (maximum accuracy, greatest calculating effort)

lrHysteresis

LREAL

Using the exploitation described above, a cyclic calculation is carried out if the master axis brake must be accelerated or in case their velocity is smaller than their set velocity can be accelerated. To help prevent the continuous changing between these regions, one can define a "resting area" where the axes maintain their condition (comparative with a hysteresis regulation). This resting area is defined in %. Value range: 0.001% (almost no hysteresis, fast reaction but, if applicable, agitated behavior) … … 50% ( large hysteresis, noticeable delay but no hectic back and forth between the brake- and acceleration procedures)