Type:

Data structure

Available as of:

V1.0.2.0

Inherits from:

-

i_ifDriveCank

SystemConfigurationItf.IF_Drive

Rotary real axis responsible for the motion. This axis performs the motion and can be configured virtually or real.

iq_lencEncoderCrank

SystemConfigurationItf.L_Enc

Encoder allocated to the rotary real 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. Therefore this axis only has to be configured as a virtual axis.

iq_lencEncoderSlide

SystemConfigurationItf.L_Enc

Encoder allocated to the auxiliary slide axis.

i_ifMaster

SystemConfigurationItf.IF_Master

Master axis for the crank module.

If the crank module has no master then this parameter is not allocated.

i_timMasterStop

TIME

The maximum period in which the i_ifMaster master has to stop in the case of an error reaction.SynchronStopEh or SynchronStopEl.

i_xHwLimitPos

BOOL

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

i_xHwLimitNeg

BOOL

The signal of a hardware limit switch for the negative direction of motion 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 to determine the motion for q_xMotionActive.

stReducedVelocity

PDL.ST_ReducedVelocity

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

q_etOpMode

ET_OpMode

The active operation mode of the crank module.

q_etState

ET_State

The active state of the crank module.

q_sDriveName

STRING[40]

Name of the slave axis.

q_xDriveActive

BOOL

TRUE: The position control of the axis is enabled.

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 follows the master synchronously.

q_xTransformationActive

BOOL

TRUE: Movement command are executed on the slide. the movement commands of the rotary axis will be transformed.

q_lrPosition

LREAL

The axis position.

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

q_lrPositionX

LREAL

Current master position.

q_lrSlideLogPosition

LREAL

Current logical position of the linear axis (i_ifDriveSlide).

q_lrSlideMechPosition

LREAL

Current mechanical position of the linear axis (i_ifDriveSlide). Unit: Length units.

q_lrCrankLogPosition

LREAL

Current logical position of the crank axis (i_ifDriveCrank).

q_lrCrankMechPosition

LREAL

Current 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.