Query of Axes

queryAxes

queryAxes()

Set the MCS (machine coordinate system) coordinates of the interpreter to the actual coordinates of the physical axes. The MCS (machine coordinate system) coordinates are automatically translated to PCS (path coordinate system) coordinates, which are exposed to the programmer. They may also be retrieved by frameGet(…). A combination of sync() and queryAxes() replaces the former @716-command.

The queryAxes()-command considers the path axes (X, Y, Z), as well as the auxiliary axes (Q1..Q5).

	The `queryAxes()`-command should be preceeded by `sync()` to avoid unexpected behavior.

Example:

The resulting path of the following example is shown in Figure “ExampleQueryAxes”. The example assumes M20 to be an M-function of type “handshake after”. The PLC is assumed to

wait for M20,
move the Y-axis to 20,
wait for completion of the movement,
acknowledge M20.

The interpreter sends the line segment N10 to the NC-channel followed by the M-function M20. Then the invocation of sync() blocks. The NC-channel signals the M-function to the PLC after the line segment N10 has been processed. Then the PLC moves the tool from the end of segment N10 to the beginning of segment N20 and acknowledges M20. The interpreter resumes operation and invokes queryAxes(), which sets the internal “current point” to the endpoint of segment N10'. Therefore, the final block sends the line segment N20 to the NC-channel.

N00
N10 G01 X40 M20 F6000
!sync();
!queryAxes();
N20 G01 X80
M02

Figure “ExampleQueryAxes”.