Handling of the Control Units on the HLI

At the PLC interface (HLI) the following Control Unit must be activated:

hli.axis[X-1].lr_mc_control.add_cmd_values.enable_w = TRUE

After that it is possible to provide additional values to the interpolator setpoint setting of the axis.

Additive position-setpoint setting:

hli.axis[X-1].lr_mc_control.add_cmd_values.command_w.m_add_pos_value

Additivite velocity-setpoint setting:

hli.axis[X-1].lr_mc_control.add_cmd_values.command_w.m_add_speed_value

These value are added to the current interpolator position or velocity within every interpolator cycle, and put to the drive (be careful while using real drives!).

I.e. if an axis has been moved to position 90 with MC_MoveAbsolute an additional setpoint setting of 10 causes a movement of the axis to position 100. This position will be kept until a new position is set.

For a continuous motion it is recommended to use the additive velocity setpoint interface. If the accuracy is not sufficient, additive position setpoints must be set continuously without modulo break, to avoid the axis driving back.