Type:

Data structure

Available as of:

V1.0.7.0

Inherits from:

-

Versions:

Current version

i_lrHomePosition

LREAL

Reference position of the axis at the end of homing.

Relevant for homing modes which set the axis position.

i_lrEncoderPosition

LREAL

Reference position of the logical encoder at the end of homing.

Relevant for homing modes which set the logical encoder position.

i_lrUserPeriod

LREAL

Machine period in which the axis position shall be set.

> 0: the reference position of the axis is set to the encoder value. If the value is outside of the declared period, a suitable position within the period is determined.

Here, i_lrAbsEncOffset is not considered.

= 0: in this case, i_lrAbsEncOffset is not considered when setting the axis position. This value causes a shift in the axis position in relation to the EncoderPosition. If the axis is driven into the negative position range and the EncoderPosition is reread, the axis position is set to the correct value.

Relevant for homing modes which restore the axis position from the position of its encoder or from retentive data (iq_pstRestorePosRetain).

i_lrAbsEncOffset

LREAL

Encoder position offset.

Relevant for homing modes which restore the axis position from the position of its encoder.

i_lrRestoreWindow

LREAL

Maximum permissible deviation between the saved and the restored axis positions.

Relevant for homing modes which restore the axis position from retentive data (iq_pstRestorePosRetain).

iq_pstRestorePosRetain

POINTER TO ST_AxisRestorePosition

Retentive data structure for restoring the axis position.

iq_lencAxis

L_ENC

Logical encoder of the axis.