Output Pin Description

Output	Data Type	Description
q_xEn	BOOL	This output mirrors the value of i_xEn input variable. TRUE: The function block is enabled. FALSE: The function block is disabled. When the input i_xEn turns FALSE during movement of the axis, the FB enters the disabled state once the movement has finished.
q_iSpdRef	INT	Signed output speed reference. Range: -32768...+32767 Scaling/Unit: RPM Refer to detailed description below this table.
q_iSpdRefFull	INT	High resolution signed speed reference output. Range: -32768...+32767 Refer to detailed description below this table.
q_diPosActlInc	DINT	Actual position of the axis in increments. This is the position the FB works with internally. The value is a 32 bit integer value. Overflow of the internal position causes the FB to enter an alarm state. Range: -2147483648...+2147483647 Scaling/Unit: inc
q_diPosActlUsr	DINT	Contains actual position of the user axis in user units. It is calculated from the internal position using parameters defined inside the encoder configuration structure i_stEncPara. Range: -2147483648...+2147483647 Scaling/Unit: user units
q_diPosPlanInc	DINT	Planned position. Range: -2147483648...+2147483647 Scaling/Unit: inc Refer to detailed description below this table.
q_diPosDiffInc	DINT	Difference between planned and actual position. Range: -2147483648...+2147483647 Scaling/Unit: inc Refer to detailed description below this table.
q_diDistToTargInc	DINT	Distance to the target position in positioning modes in encoder increments. Range: -2147483648...+2147483647 Scaling/Unit: inc
q_diSpdActl	DINT	Actual speed of the axis. This value is calculated using the encoder feedback. Range: -2147483648...+2147483647 Scaling/Unit: inc/s
q_diSpdPlan	DINT	Contains the speed reference calculated by the internal speed/position profile generator without added action of the position controller. Range: -2147483648...+2147483647 Scaling/Unit: RPM
q_xInPos	BOOL	Informs about the axis being in the planned position. This information is also available in the status word of the FB (q_dwStat).
q_dwStat	DWORD	This output is the status register. Refer to Status Notifications. Range: 0...65535
q_xAlrm	BOOL	This output is TRUE when an alarm is detected. TRUE: Alarm detected. FALSE: No alarm is detected. In case of an alarm the FB performs a controlled stop, using the Quick stop ramp, and does not allow any further movement until the cause of the alarm has been remedied.
q_dwAlrmId	DWORD	This output is the detected alarm register. Refer to Notifications. Range: 0...65535

q_iSpdRef

This output contains the signed speed reference for a variable speed drive. Using a negatively signed speed reference allows you to move the motor in reverse direction with forward command on the drive. This method allows for a simple change of direction while the command to the drive is controlled by user application outside of the FB.

For detailed information, refer to the Quick Reference Guide.

q_iSpdRefFull

This output contains the signed speed reference for a variable speed drive in high resolution. The maximum and minimum values correspond to maximum and minimum speed reference/frequency configured in the FB. The output is intended for usage with a variable speed drive in high resolution frequency reference mode.

Altivar variable speed drives can be switched to high resolution frequency reference mode using bit 9 of extended command word (CMI).

For detailed information, refer to the documentation of your variable speed drive.

q_diPosPlanInc

This output contains the planned position of the axis in encoder increments. Ideally, this value should be equal to q_diPosActlInc. In reality, there is almost always deviation between these values. The deviation can increase during periods of acceleration and deceleration, and may trigger an alarm. If the deviation becomes too great, you need to review the configuration of the application/machine.

q_diPosDiffInc

This output contains the difference between the planned and the actual position in encoder increments. The lower the value, the greater is the accuracy of positioning. When this value exceeds the maximum allowed position difference defined in i_stPosPara.diPosDiffMax, a “position following” alarm is triggered and the axis stops using Quick stop.

q_dwStat

This output contains the status of the FB.

Bit Position	Status Description Represented by Bit Position
Bit 0	Axis ready for positioning task. Drive is in RUN state, encoder data is valid, axis position initialized, FB is not in alarm state, FB is not in Quick stop state.
Bit 1	In position. Axis is within in-position window defined by i_stPosPara.diInPosWdow from the target position.
Bit 2	Detected error on positioning. Target position not reached (actual position is not within the window defined by i_stPosPara.diInPosWdow) within defined time i_stPosPara.wPosFailTime.
Bit 3	Axis in motion.
Bit 4	Positioning task in progress.
Bit 5	Acknowledgement of execution and homing command. Jog command is not acknowledged.
Bit 6	Quick stop is active. The input i_xQuickStop is FALSE or was FALSE previously. A rising edge on the i_xRst input is required to reset the Quick stop state.
Bit 7	Halt is active. The input i_xHalt is FALSE.
Bit 8	Homing in progress.
Bit 9	Homing finished.
Bit 10	Homing done.
Bit 11	Unsuccessful homing.
Bit 12	Homing speed too high.
Bit 13	Homing method not supported.
Bit 14	Jog movement in progress.
Bit 15	Jog movement finished.
Bit 16	Long move mode. The distance to target is higher than 2147483647 internal increments.
Bit 17	User unit configuration causes overflow of internal target position.
Bit 18	Actual position cannot be converted to user units.
Bit 19	User unit configuration causes overflow of internal jog distance.
Bit 20	User unit configuration causes overflow of internal clearing distance.
Bit 21	User unit configuration causes overflow of internal homing reference position.
Bit 22	User unit configuration causes overflow of internal position of positive software stop switch.
Bit 23	User unit configuration causes overflow of internal position of negative software stop switch.
Bit 24	Axis reached either hardware or software limit switch.
Bit 25	Modulo mode.
Bit 26	Modulo direction not supported, supported directions are 0,1 and 2.
Bit 27	User unit configuration causes overflow of internal modulo range.
Bit 28...31	Reserved

q_dwAlrmId

This output identifies the detected alarm(s) indicated by the FB. A value of zero indicates no alarms detected.

Bit Position	Status Description Represented by Bit Position
Bit 0	The distance between planned and actual position exceeds preset threshold (i_stPosPara.diPosDiffMax).
Bit 1	System not ready or drive not running. Falling edge of either i_xDrvRun or i_xSysRdy detected during axis movement.
Bit 2	Overflow of internal 32 bit absolute position.
Bit 3	Two consecutive overflows of encoder interface detected. This indicates a possible loss of position. It can happen if the speed of the axis is too high, resolution of encoder interface is too low and execution period of positioning task is too long.
Bit 4	i_wPosSpdRef>6000
Bit 5	i_stMotPara.diRampAcc<1
Bit 6	i_stMotPara.diRampDec<1
Bit 7	i_stMotPara.diRampDecQuickStop<1
Bit 8	i_stPosPara.diPosDiffMax<0
Bit 9	i_stPosPara.diInPosWdow<0
Bit 10	i_stPosPara.rKpPos<0
Bit 11	i_stPosPara.rKpFeedFwd<0
Bit 12	i_stMotPara.wMotFreqNom=0 or i_stMotPara.wMotFreqNom>3000
Bit 13	i_stMotPara.wMotFreqMax=0 or i_stMotPara.wMotFreqMax>3000
Bit 14	i_stMotPara.wMotSpdNom=0 or i_stMotPara.wMotSpdNom>6000
Bit 15	i_stJogPara.wJogSpdRef>6000
Bit 16	i_stJogPara.diJogDist<0
Bit 17	i_wHmngSpdRef>6000
Bit 18	i_stHmngPara.diHmngDistOut<0
Bit 19	i_stEncPara.wIntfResol<1 or i_stEncPara.wintfResol>32
Bit 20	i_stEncPara.diPulsPerRevo<1
Bit 21	i_stEncPara.diScalNumer<1
Bit 22	i_stEncPara.diScalDenom<1
Bit 23	i_stEncPara.diModRng<0 and i_stEncPara.xModulo=TRUE
Bit 24...31	Reserved.