Output Pin Description

Output	Data Type	Description
q_xEn	BOOL	Enable status of the FB TRUE: FB enabled FALSE: FB disabled
q_diEncPosDiff	DINT	Actual position difference of both axes Range: -2147483648...2147483647 Scaling/Unit: INC
q_diEncPosDev	DINT	Position deviation from target during position synchronization Range: -2147483648...2147483647 Scaling/Unit: INC
q_xDrvFwdHold	BOOL	Forward command for hold drive
q_xDrvRevHold	BOOL	Reverse command for hold drive
q_wDrvSpdTargHold	WORD	Target speed for hold drive Range: 0...6000 Scaling/Unit: RPM
q_wDrvAccHold	WORD	Acceleration for hold drive Range: 1...999 Scaling/Unit: 0.1s
q_wDrvDecHold	WORD	Deceleration for hold drive Range: 1...999 Scaling/Unit: 0.1s
q_wDrvTrqLimHold	WORD	Torque limitation for hold drive Range: 0...3000 Scaling/Unit: 0.1%
q_xDrvFwdClose	BOOL	Forward command for close drive
q_xDrvRevClose	BOOL	Reverse command for close drive
q_wDrvSpdTargClose	WORD	Target speed for close drive Range: 0...6000 Scaling/Unit: RPM
q_wDrvAccClose	WORD	Acceleration for close drive Range: 1...999 Scaling/Unit: 0.1s
q_wDrvDecClose	WORD	Deceleration for close drive Range: 1...999 Scaling/Unit: 0.1s
q_xGrabOpen	BOOL	Grab open
q_xGrabClosed	BOOL	Grab closed
q_wGrabPos	WORD	Position of grab Range: 0...100 Scaling/Unit: %
q_iTrqFltrHold	INT	Filtered torque of hold drive Range: -3000...3000 Scaling/Unit: 0.1%
q_iTrqFltrClose	INT	Filtered torque of close drive Range: -3000...3000 Scaling/Unit: 0.1%
q_wStat	WORD	Status word
q_xAlrm	BOOL	Alarm output
q_wAlrmId	WORD	Alarm identification

q_xEn

Enable status of the FB.

q_diEncPosDiff

Encoder position difference between hold and close axes.

q_diEncPosDev

Deviation of actual position difference between hold and close axes from the target position difference. This value is written only during synchronized movement and load sharing.

When position synchronization is active this value should be close to zero if the proportional position controller is configured correctly.

During torque sharing it shows the difference between closed position and the position corresponding to actual torque difference.

q_xDrvFwdHold, q_xDrvRevHold

Forward and reverse command for hold drive.

q_wDrvSpdTargHold

Target speed for hold drive.

q_wDrvAccHold, q_wDrvDecHold

Acceleration and deceleration ramps for hold drive.

q_wDrvTrqLimHold

Torque limitation for hold drive. Torque limitation is used during closing on stack. Torque limitation must be enabled in configuration of the hold drive. [0.1%]

q_xDrvFwdClose, q_xDrvRevClose

Forward and reverse command for close drive.

q_wDrvSpdTargClose

Target speed for close drive.

q_wDrvAccClose, q_wDrvDecClose

Acceleration and deceleration ramps for close drive.

q_xGrabOpen

TRUE when the grab is fully open. The open position must be calibrated in order for open position detection to work.

q_xGrabClosed

TRUE when the grab is fully closed or if it is considered closed based on torque of the close motor during closing on stack. The closed position must be calibrated in order for closed position detection to work.

q_wGrabPos

Actual position of the grab. The range of this output is 0 to 100%. 0% corresponds to a fully closed and 100% to a fully open grab. Both closed and open positions must be calibrated for this output to work.

q_iTrqFltrHold, q_iTrqFltrClose

Actual torque scope values of hold and close drives filtered by the FB. These values can be used for tracing during commissioning.

q_wStat

Status word of the FB:

Bit Position	State Description
bit 0	Grab fully open
bit 1	Grab fully closed
bit 2	Closed state detected based on torque value
bit 3	Calibration of open position done
bit 4	Calibration of closed position done
bit 5	Position synchronization active
bit 6	Load sharing active
bit 7	Closing on stack active

q_xAlrm

In case of an alarm the FB removes run commands from both drives and does not allow any further movement until the cause of the alarm has been cleared.

q_dwAlrmId

This output identifies the detected alarm.

Alarm	Alarm Description
bit 0	One or both of the drives are not ready and a command to move the grab was given.
bit 1	Input configuration, i_st.PGC.wDrvSpdLsp >= i_stPGC.wDrvSpdHsp