[ V e r s i o n I n f o ] 
 
 0 = L S t e p 4 
 
 D O K U L E V E L = 0 
 
 { D o k u l e v e l   1   e r l a u b t   O n l i n e   T e x t e d i t } 
 
 D a t e T i m e = 2 5 . 0 9 . 2 0 1 8   0 0 : 0 0 : 0 0 
 
 V e r s i o n = 3 . 0 . 0 . 2 8 
 
 F i l e n a m e = L S t e p 4 C h s . t x t 
 
 M o d u l e = L S t e p 4 
 
 L A N G U A G E = {SO-Ne
 
 T r a n s l a t o r = Plb
 
 
 
 [ L A N G U A G E ] 
 
 L A N G U A G E = {SO-Ne
 
 
 
 [ L S t e p ] 
 
 0 = # A x i s 
 
 1 = L S t e p mo`
 
 2 = 
 
 3 = fJT}TN-NbkE A b o r t 	
 
 4 = l	gޏc0Rc6R|~
 
 5 = # E r r o r   c h a n n e l 
 
 6 = # S y n c h r o n i z i n g   i n t e r f a c e 
 
 
 
 1 0 = eS(uvyR}TNd~FgYN;mRr`
 
 1 1 = ЏRǏz-Nc6RhVe
 
 1 2 = 0RyReTPMO _sQ
 
 1 3 = ͑
YTϑ _YxhVo;m
 
 1 4 = !hQt*gy _PMO _sQ
 
 
 
 2 0 = L S t e p OS
 
 2 1 = hQnd
 
 2 2 = SX[:N. . . 
 
 2 3 = OX[L S t e p OS
 
 
 
 3 0 = L S t e p   A P I }TNRh
 
 3 1 = hQnd
 
 3 2 = SX[:N. . . 
 
 3 3 = OX[L S t e p   A P I }TNRh
 
 
 
 
 
 [ E r r o r s ] 
 
 ; ! ! ! ! ! ! ! ! ! !   A C H T U N G :    n d e r u n g e n   m  s s e n   i n   d i e   L D r i v e r - T e x t d a t e i    b e r n o m m e n   w e r d e n   ! ! ! ! ! ! ! ! ! ! 
 
 1 = t
NX[(W
 
 2 = R
NS(u
 
 3 = }TNW[&{2N-NW[&{ǏY
 
 4 = *gwv}TN
 
 5 = 	gHepeW[VKNY
 
 6 = 
NcknxvSpepeϑ
 
 7 = }TN_{N  b   _Y
 
 8 = T V R 
NV:NtYN;mRr`
 
 9 = tS(uT V R YN;mRr`
 
 1 0 = R*gMn
 
 1 1 = eS(uvyR}TNV:Nd~FgYN;mRr`
 
 1 2 = 0RPMO _sQ
 
 1 3 = R
NSvV:NxhVo;m( ndMOn) 
 
 1 4 = !hQt*gy _PMO _sQ
 
 1 5 = Sh!hQ
 
 1 6 = OX[}TN1Y%
 
 1 7 = tN(WO(u
 
 1 8 = t*gQY}Y
 
 1 9 = t*g!hQ
 
 2 0 = qR~5uhVEe[hQ~WK 3 / K 4 	
 
 2 1 = NAQUS NTϑ[!j_	
 
 2 2 = 
NAQۏL!hQgbLs^SLzKmϑbd~Fgd\OSb _bn!j_	
 
 2 3 = X - t[hQ
 
 2 4 = Y - t[hQ
 
 2 5 = Z - t[hQ
 
 2 6 = A - t[hQ
 
 2 7 = '}%`\Pbk
 
 2 8 =  _sQ[hQ5uEe
 
 2 9 = Rsg*gSb _
 
 3 0 = G A L [hQEe
 
 3 1 = d~Fg
NSb _V:N;mRo;m
 
 3 2 = TϑǏ[MOR
 
 
 
 ;   A b   1 0 0 0   F e h l e r m e l d u n g e n   L S t e p P C I e   b z w .   L S t e p P P 
 
 ; ! ! ! ! ! ! ! ! ! !   A C H T U N G :    n d e r u n g e n   m  s s e n   i n   d i e   L D r i v e r - T e x t d a t e i    b e r n o m m e n   w e r d e n   ! ! ! ! ! ! ! ! ! ! 
 
 1 0 1 0 = vQNKbR!j_]o;m
 1 0 1 1 = # S e r v o   a n d   s t e p p e r   m o t o r   c a n ' t   b e   c o u p l e d   ( j o y s t i c k ) 
 1 0 1 2 = # O u t p u t   a l r e a d y   a s s i g n e d   t o   a n o t h e r   f u n c t i o n   ( d i g i t a l   o u t p u t ) 
 
 1 0 1 3 = # H a r d w a r e l a y e r   a s s i g n e d   s e v e r a l   t i m e s 
 
 1 0 1 4 = # A x i s   m a p p i n g   n o t   p o s s i b l e 
 
 1 0 1 5 = # T r i g g e r o u t p u t   f r e q u e n c y   e x c e e d e d 
 
 
 
 1 0 3 0 = o;mMn
 
 1 0 3 1 = t*gMn
 
 1 0 3 2 = Q
 
 1 0 3 3 = tN(WO(u
 
 1 0 3 4 = tYNr`
 
 1 0 3 5 = t*g!hQ
 
 1 0 3 6 = t*gۏLzzKmϑ
 
 1 0 3 7 =  g\P6R*gw
 
 1 0 3 8 =  g'YP6R*gw
 
 1 0 3 9 = '}%`\Pbko;m
 
 1 0 4 0 = PMO _sQ[MO
 
 1 0 4 1 = Lz*Y\
 
 1 0 4 2 = ^*Y\
 
 1 0 4 3 = RR^*Y\
 
 1 0 4 4 = # N o   t r i g g e r   s i g n a l   d e t e c t e d   w h i l e   m o v i n g   i n t o   l i m i t   s w i t c h 
 
 1 0 4 5 = # N o   t r i g g e r   s i g n a l   d e t e c t e d   w h i l e   m o v i n g   o u t   o f   l i m i t   s w i t c h 
 
 1 0 4 6 = LۏOjR
 
 1 0 4 7 = LzQPMO _sQ
 
 1 0 4 8 = # E r r o r   i n   r e q u i r e d   p o s i t i o n   g e n e r a t o r 
 
 
 
 1 0 6 4 = ݍyǏ'Y
 
 1 0 6 5 = Te6RRTPMO _sQO5u/f
NS
 
 1 0 6 6 = l	gbcT_
 
 1 0 6 7 = t*gbcT
 
 1 0 6 8 = # A d a p t i v e   p o s i t i o n   c o n t r o l l e r   n o t   a l l o w e d   i n   s e r v o   m o d e 
 
 1 0 6 9 = # F i l t e r   t i m e   c o n s t a n t   t o o   l o w 
 
 1 0 7 0 = # F r e q u e n c i e s   o f   b a n d s t o p   n o t   p o s s i b l e 
 
 1 0 7 1 = # t i m e   c o n s t a n t   p o s i t i o n   c o n t r o l   o u t p u t   f i l t e r   t o o   l o w 
 
 1 0 7 2 = # t i m e   c o n s t a n t   s p e e d   c o n t r o l   o u t p u t   f i l t e r   t o o   l o w   
 
 1 0 7 3 = # t i m e   c o n s t a n t   a c c e l e r a t i o n   f e e d   f o r w a r d   f i l t e r   t o o   l o w 
 
 1 0 7 4 = # t i m e   c o n s t a n t   s p e e d   a c t u a l   v a l u e   f i l t e r   t o o   l o w 
 
 1 0 7 5 = # t i m e   c o n s t a n t   a c c e l e r a t i o n   a c t u a l   v a l u e   f i l t e r   t o o   l o w 
 
 1 0 7 6 = # t i m e   c o n s t a n t   v e l o c i t y   m o n i t o r i n g   f i l t e r   t o o   l o w 
 
 1 0 7 7 = # t i m e   c o n s t a n t   m a n u a l   o p e r a t i o n   f i l t e r   t o o   l o w 
 
 
 
 ; A c h s f e h l e r : 
 
 ; ! ! ! ! ! ! ! ! ! !   A C H T U N G :    n d e r u n g e n   m  s s e n   i n   d i e   L D r i v e r - T e x t d a t e i    b e r n o m m e n   w e r d e n   ! ! ! ! ! ! ! ! ! ! 
 
 1 0 9 6 =  g\PMO _sQo;m
 
 1 0 9 7 =  g'YPMO _sQo;m
 
 1 0 9 8 = *gQY}YꁨRbcT
 
 1 0 9 9 = *gSsceQS\:g
 
 1 1 0 0 = # M o t o r - I  T hKmYt( g) 
 
 1 1 0 1 = # M o t o r - I  T hKmYt( wg) 
 
 1 1 0 2 = RsgǏ5uAm
 
 1 1 0 3 =  _:geǏ5uAm
 
 1 1 0 4 = Ǐ5uS
 
 1 1 0 5 = OiN-N5u^R1YHe
 
 1 1 0 6 = xhV/cE^*Y\
 
 1 1 0 7 = xhV/cE^Ǐ'Y
 
 1 1 0 8 = n^]Ǐ'Y
 
 1 1 0 9 = ^Ǐ'Y
 
 1 1 1 0 = 5u:g5Xl
 
 1 1 1 1 = 5u:g6RR:w
 
 1 1 1 2 = )n^ǏؚvRs~
 
 1 1 1 3 = 5u:gǏp
 
 1 1 1 4 = Rs~ꁨRbcT _sQ
 
 1 1 1 5 = SvRs~)n^
 
 1 1 1 6 = l	g0RvhzS
 
 
 
 ; F e h l e r   b e i m    b e r w a c h e n   d e s   F a h r e n s 
 
 ; ! ! ! ! ! ! ! ! ! !   A C H T U N G :    n d e r u n g e n   m  s s e n   i n   d i e   L D r i v e r - T e x t d a t e i    b e r n o m m e n   w e r d e n   ! ! ! ! ! ! ! ! ! ! 
 
 1 1 1 7 = tN(WЏ\O
 
 1 1 1 8 =  g\!j_	cN _sQ
 
 1 1 1 9 =  g'Y!j_	cN _sQ
 
 1 1 2 0 = vhMOnQ g\!j_
 
 1 1 2 1 = vhMOnQ g'Y!j_
 
 1 1 2 2 = 
NTRsgTe	cN
 
 1 1 2 3 = lxNvcsQ핟Rsg
 
 1 1 2 4 = xhVMO
 
 1 1 2 5 = xhV/cE^*Y\ g~l	gޏcS\hV
 
 1 1 2 6 = # A n g l e   a t   a u t o - c o m m u t a t i o n   o u t   o f   t o l e r a n c e   r a n g e ,   e v e n t u a l l y   a x i s   i s   b l o c k e d 
 
 1 1 2 7 = # N o   r o t a t i v e   a x i s 
 
 1 1 2 8 = e0 PMO _sQ/ eS\hVSh
 
 1 1 2 9 = eS\hVcS
 
 1 1 3 0 = xhVagvY!kc>m
 
 1 1 3 1 = e Q E P - xhVagv*gMn( lxNMnM F P ) 
 
 1 1 3 2 = (WAQeQ*g0RvhzS
 
 1 1 3 3 = # E n c o d e r   i n t e r f a c e   n o t   a v a i l a b l e 
 
 1 1 3 4 = # A u t o - c o m m u t a t i o n   c u r r e n t   i s   g r e a t e r   t h a n   n o m i n a l   c u r r e n t 
 
 1 1 3 5 = # A u t o - c o m m u t a t i o n   c u r r e n t   i s   z e r o 
 
 1 1 3 6 = # N o m i n a l   m o t o r   c u r r e n t   i s   g r e a t e r   t h a n   d e v i c e   c u r r e n t 
 
 1 1 3 7 = # I  T   c u r r e n t   i s   g r e a t e r   t h a n   d e v i c e   c u r r e n t 
 
 1 1 3 8 = # A u t o - c o m m u t a t i o n   c u r r e n t   i s   g r e a t e r   t h a n   d e v i c e   c u r r e n t 
 
 1 1 3 9 = # C o n t o u r i n g   e r r o r   n o t   a c t i v e .   A c t i v a t i o n   r e c o m m e n d e d . 
 
 
 
 ; G e r  t e f e h l e r 
 
 ; ! ! ! ! ! ! ! ! ! !   A C H T U N G :    n d e r u n g e n   m  s s e n   i n   d i e   L D r i v e r - T e x t d a t e i    b e r n o m m e n   w e r d e n   ! ! ! ! ! ! ! ! ! ! 
 
 1 1 6 0 = # D a t a   i s   m i s s i n g   i n   O T P   m e m o r y 
 
 
 
 1 1 6 2 = # C o m p u t i n g   t i m e   e x c e e d e d   ( I n t e r r u p t 4 ) 
 
 1 1 6 3 = # C o m p u t i n g   t i m e   e x c e e d e d   ( I n t e r r u p t 3 ) 
 
 1 1 6 4 = # C o m p u t i n g   t i m e   e x c e e d e d   ( I n t e r r u p t 2 ) 
 
 1 1 6 5 = # C o m p u t i n g   t i m e   e x c e e d e d   ( I n t e r r u p t 1 ) 
 
 1 1 6 6 = # D e v i c e   i n   s y s t e m   e r r o r   s t a t u s 
 
 1 1 6 7 = # D e v i c e   I  T   M o n i t o r i n g   a p p r o a c h e d 
 
 
 
 ; A c h s w a r n u n g e n 
 
 ; ! ! ! ! ! ! ! ! ! !   A C H T U N G :    n d e r u n g e n   m  s s e n   i n   d i e   L D r i v e r - T e x t d a t e i    b e r n o m m e n   w e r d e n   ! ! ! ! ! ! ! ! ! ! 
 
 1 1 9 3 = fJTRsg)n^Ǐؚ
 
 1 1 9 4 = fJT5u:g)n^Ǐؚ
 
 1 1 9 5 = *g[sqRSR
 
 1 1 9 6 = ty(u
 
 1 1 9 7 = # D C   l i n k   v o l t a g e   t o o   l o w 
 
 1 1 9 8 = # D C   l i n k   v o l t a g e   t o o   h i g h 
 
 
 
 ; S c h l e p p f e h l e r k r i t e r i u m f e h l e r 
 
 1 2 1 0   = # S c h l e p p f e h l e r k r i t e r i u m   m u s s   e r s t   d e a k t i v i e r t   w e r d e n 
 
 
 
 1 2 5 0 = :ylhVSMOn'YN:ylhVV
 
 