Requesting for current actual positions and filling them into V.A.ABS[ ]

#CHANNEL INIT [ ACTPOS { AX<axis_name> |AXNR<expr> } ]

AX<axis_name> Name of the axis, for which the actual value is to be requested.

AXNR<expr> Logical number of the axis, for which the actual value is to be requested, positive integer.

The NC program interpreter requests the current actual positions of all or some specific path axes from the interpolator, filles the data into the NC program interpreter operating data and initializes the NC-channel with these positions. By programming the variable (V.A.ABS. ...) the current command positions within the operating data can be accessed. By this command possibly stored manual mode offsets in the interpolator are deleted. The values entered in the variable "V.A.SOFFS. ..." are not updated by this job (see chapter 13.1).

Requesting for current actual positions and filling them into V.A.ABS[ ] 1:

If no axes are programmed, for all path axes in NC channel the actual positions are requested.
For programmed axes the actual positions are requested and for the non programmed axes the command positions are requested.

Notice

The acceptance of the actual position as command position can cause an axis motion. Especially within a NC program loop this can generate a drift of the drive.

This command must be exclusive in the NC block.

Programming example

%channel_init_act 
G01 F1000 X100 Y200 
#CHANNEL INIT [ACTPOS AX=X AX=Y ] (Request of actual value by) 
(axis name..) 
#CHANNEL INIT [ACTPOS AXNR=1 AXNR=2 ] (..or logical axis number..) 
#CHANNEL INIT [ACTPOS] (..or for all path axes) 
#MSG ["Actpos X:%F, Y:%F ",V.A.ABS.X, V.A.ABS.Y] 
M30