Output Description

DONE

Data_Type	Default_Value	Range	Unit
BOOL	-	TRUE / FALSE	-

Output DONE indicates the state of execution.

It has the value TRUE when the execution is finished and the outputs are valid. When DONE becomes FALSE other outputs are not valid any more.

ERR

Data_Type	Default_Value	Range	Unit
BOOL	-	TRUE / FALSE	-

Output ERR indicates whether an error occurred during Function Block execution.

It is only valid when DONE is TRUE. The kind of occurred error is specified by the error identifier at output ERNO.

ERNO

Data_Type	Default_Value	Range	Unit
WORD	-	0 … 65535	-

At output ERNO the identifier of an occurred error is provided. It is only valid when DONE and ERR is TRUE. (see, error messages): Error Messages of the Function Block Libraries

RUN   BOOL \   (run)

RUN output should be used as start command for the drive. It is set to TRUE, if no limit is reached no error occurred and either a jog command is set or normal operation sets the SPEED_REF not to zero.

SPEED_REF   REAL \   (speed \ reference)

To output parameter SPEED_REF indicates the input to the drive, the manipulated variable to control the system positioning. Depending on the working mode SPEED_REF will be:

Input Parameters (Working mode)	Additional Input Parameters Considered	Output SPEED_REF
GO_TO_POS_REF = TRUE	POS_ERR < (POS_REF ““ POS_ACT) VIRTUAL_LIMIT_MIN < POS_ACT < VIRTUAL_LIMIT_MAX STOP_BWD = FALSE STOP_FWD = FALSE	SPEED_REF = KP*(POS_REF - POS_ACT)
JOG_FWD = TRUE	STOP_FWD = FALSE	SPEED_REF = JOG_SPEED
JOG_BWD = TRUE	STOP_BWD = FALSE	SPEED = (-1) * JOG_SPEED

SPEED_REF is in terms of 0-100 %. User needs to convert this output to 0-50 Hz before giving to the drive.

DIR   BOOL \   (direction)

If SPEED >= 0  ->  DIR = TRUE

If SPEED < 0  ->  DIR = FALSE

POS_REF_REACHED   BOOL \   (position \ reference reached)

POS_REF_REACHED is set to TRUE as long as the system has reached the POS_REF or it is inside the area between POS_ERR > (POS_REF - POS_ACT).