External commanding of an axis

Activation of external position- or velocity command values, Axis

Description

Predefinition of velocity- or position command values by the PLC effective additional to the interpolator. No monitoring of the values regarding the dynamic limits of the axis.

To activate this interface axis parameter P-AXIS-00091 (see also [Axis Parameter]) has to be set to 1.

External commanding of an axis 1:Data type

MCControlAddCmdValueUnit, s. description Control Unit

Characteristics

While using this interface there is a durable offset of the axis positions in the interpolator and decoder. A new synchronisation of the axes positions is executed e.g. during program start, after homing, after measuring or by the NC-command #SET DEC LR SOLL.

If no synchronization is wanted parameter P-AXIS-00322 (see also [Axis Parameter]) has to be set to 1.

Access

PLC writes Command + Enable

ST path

pAC[axis_idx]^.addr^.McControlLr_Data.MCControlAddCmdValueUnit_AddCmdValue

Commanded values

ST element

. HLIAddCmdValue_Command

Data type

HLIAddCmdValueData

Activation

ST element

. X_Enable

External command values, Axis

Description

Handing over of the additional position- or velocity command values. After activation both values are effective at the same time.

Data type

HLIAddCmdValueData

ST path

pAC[axis_idx]^.addr^.McControlLr_Data.MCControlAddCmdValueUnit_AddCmdValue.HLIAddCmdValue_Command

Elements of data type

ST element

. D_AddPosValue

Characteristics

Absolute value

Data type

DINT

Unit

0.1μm

Access

PLC writes

 

 

ST element

.D_AddSpeedValue

Data type

DINT

Unit

1μm/s

Access

PLC writes