Read Actual Axis Value
Command | @361 |
|
Parameter 1 | R<n> | R parameter to which the actual axis value is assigned |
Parameter 2 | K<m> | Constant for the axis coordinate to be read |
Sample 1:
N10 G0 X0 Y0 Z0 F24000
N30 G01 X1000
N40 @361 R1 K0 (read position of x axis)
N50 R0=X
N60 G01 X=R0+R1
N70 M30
A decoder stop is implicitly executed by @361 command. This ensures that, in this example, the position is read when block N30 has been processed.
One possible application is, for example, the combination with the residual path deletion.
Read actual axes value without decoder stop
from TwinCAT V2.9 Build 947
Command | #get PathAxesPos( R<a>; R<b>; R<c> )# |
|
Parameter 1 | R<a> | R parameter to which the actual axes value of the X axis is assigned |
Parameter 2 | R<b> | R parameter to which the actual axes value of the Y axis is assigned |
Parameter 3 | R<c> | R parameter to which the actual axes value of the Z axis is assigned |
The command #get PathAxesPos( )# reads the current actual positions of the path axes (X, Y & Z). It behaves similarly to @361, with the difference that this command does not trigger an implicit decoder stop. This means that the programmer must himself ensure that at the time when the command is being processed in the interpreter the axes have not yet moved, or else a decoder stop (@714) must be programmed in the block before this command.
#get PathAxesPos( )# is an alternative to @361, but it is linked to certain specific conditions.
Sample 2:
@714(optional)
N27 #get PathAxesPos( R0; R1; R20 )#
 | If a path axis is not assigned (e.g. no axis is assigned to Z) the value 0 is passed to the associated R parameter. |