ST_HomeTorque - General Information
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Type: |
Data structure |
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Available as of: |
V1.0.7.0 |
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Inherits from: |
- |
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Versions: |
Current version |
Structure for a parameterization of the homing modes for homing to a limit stop
|
Variable |
Data type |
Description |
|---|---|---|
|
i_lrHomePosition |
LREAL |
Reference position at the end of the referencing. |
|
i_lrVel |
LREAL |
Velocity (change of position) in units/s. |
|
i_lrAcc |
LREAL |
Acceleration (change of velocity) in units/s2. |
|
i_lrDec |
LREAL |
Deceleration (change of velocity) in units/s2. |
|
i_lrOffset |
LREAL |
Offset between hitting the stop and the reference point. The offset should be preset in the opposite direction to “Moving to Stop”. |
|
i_lrMaxTravel |
LREAL |
Maximum distance for searching for the stop. |
|
i_lrMaxTorque |
LREAL |
The torque (in Nm) of the motor shaft of the drive is limited using MaxTorque. |
|
i_lrJerk |
LREAL |
Jerk (change of acceleration/deceleration) in units/s3. |
|
i_diTorqueTime |
DINT |
Required torque time (in msec) |
