1. TwinCAT PLC Lib: TcMC
2. Data types
3. E_DestallDetectMode

E_DestallDetectMode

TYPE E_DestallDetectMode :
(
    PwStDetectMode_None := 0,
    PwStDetectMode_Encoderless,
    PwStDetectMode_Lagging
);
END_TYPE

In this enum, the methods of stall detection are specified for the MC_PowerStepper block.

PwStDetectMode_None: Stall detection is not carried out.
PwStDetectMode_Encoderless: Bits 1 to 3 of the status byte of a type KL2531 or KL2541 terminal are evaluated for the purposes of stall detection. The byte is to be passed to the MC_PowerStepper block as the KL_Status.
PwStDetectMode_Lagging: The following error of the axis is evaluated for stall detection. The decision is made with the aid of the following error threshold and the following error filter time from the NC parameters.

Requirements