Operating mode of an axis (P-AXIS-00015)
Axes can be traversed in different operating modes:
Variable name | Type | Permissible range | Axis type | Dimension |
achs_mode | UNS32 | 0x00000001 - 0x80000000 | T, R | ---- |
Following operation modes can be set:*
Value | Significance | Axis | Interpolator type | ||
| Description | ACHSMODE_ | type | Path | Spindle |
0x00000001 | The axis is driven like a linear axis; no modulo calculation follows. E.g. rotary axis with restricted traverse distance; has also to be initialized for translatory axes. | ..LINEAR* | T, R | X |
|
0x00000004 | A modulo calculation shall be done only after the attaining of the target position. Irrespective of the chosen operating mode for rotational axes a modulo calculation always takes place in position controler. Thus, if necessary, a modulo circle compensation can be carried out. | ..MODULO* | R | X | X |
0x00000040 | Axis is used as a face turning axis (turning functions). | ..PLANDREHEN | T | X |
|
0x00000080 | Axis is used as a longitudinal turning axis (turning functions). | ..LAENGSDREHEN | T | X |
|
0x00000100 | For a spindle an automatic homing before positioning the spindle can be pre-vented. Of course, this is only relevant, if for the axis no homing was done. | ..KEINE_AUTO_RPF | R |
| X |
0x00000200 | Axis can be used for the kinematics "C-axis" transformation. | ..CAX | R | X | X |
0x00000400 | Modulo calculation for linear axis. (E.g. a conveyor belt with drive, where the position on the belt shall be programmed in mm). | ..MODULO_LINEAR | R | X |
|
0x00000800 | Axis is clampable by PLC. | ..CLAMPABLE** | T, R | X |
|
0x00001000 | Axis carries a rotary workpiece table. | ..ROT_TABLE | T, R | X |
|
0x00008000 | Monitoring of axis collision. | ..COLL_CHECK | T | X |
|
0x00010000 | Master axis of gantry link. | ..GANTRY_MASTER | T, R | X |
|
0x00020000 | Slave axis of gantry link. | ..GANTRY_SLAVE | T, R | X |
|
0x00040000 | Open loop controlled spindle. | ..SPINDLE_EXT_CTRL | R |
| X |
0x00080000 | Axis is input axis for additional external position command values (e.g. distance control). | ..EXT_CTRL_INPUT | T | X |
|
0x00100000 | Pure encoder axis, only for displaying of current values (e.g. conveyor belt). | ..COUNTER | T, R | X | X |
0x00200000 | Lead axis in combination with a single feed axis and G194. | ..LEAD_AXIS **** | T, R | X |
|
0x00400000 | The resolution (wegaufz/wegaufn) of this axis can be changed. | ..ALLOW_RESOLUTION_CHANGE*** | T, R | X | X |
0x00800000 | Path dependend dynamic weighting for this axis is enabled. | ..DYNAMIC_WEIGHTING | T, R | X |
|
**** nicht allgemein freigegeben, geschützter kundenspezifischer Parameter für WAFIOS!!!
 | *One of the following two axis modesmustalways be defined:- ACHSMODE_LINEAR or - ACHSMODE_MODULOAll other bits of the parameter achs_mode are supplementary specifications. E.g. the bit ACHSMODE_MODULO_LINEAR is only useful combined with bit ACHSMODE_MODULO.** For TwinCAT-Systems this axis mode is not available. |
| *** Changing of some certain axes parameters during a running control, e.g. resolution of measurement system, can be dangerous. Therefore the possibility to change this parameters can be enabled by setting the bit ALLOW_RESOLUTION_CHANGE in the operation mode of the axis. Otherwise this parameters (P-AXIS-00234, P-AXIS-00233) can not be changed after start-up of control.The bit ALLOW_RESOLUTION_CHANGE is also used for the check of change permission of other critical parameters of an axis, if this axis is actually interpolated. If it is moved, this parameter update is rejected. |