HLI parameters

Read/write drive data cyclically

Description

This control unit reads and writes a drive signal that is not used by the CNC.

Parameterisation is executed using

• Parameterising drive data from PLC to drive or
• Parameterising drive data from PLC to drive.

A read access is always executed when an ID was parameterised for P-AXIS-00854. A write access is only executed if the ID is not used by the CNC.

The control unit can be used in read-only, write-only or both read and write modes. This is dependent on P-AXIS-00854 and P-AXIS-00862.

Data type

MC_CONTROL_UNS32_UNIT, see description of Control unit

Access

PLC reads request_r + state_r and writes command_w + enable_w

ST path

gpAx[axis_idx]^.lr_mc_control.uns32_<i>

where i = [1, 4] e.g. gpAx[axis_idx]^.lr_mc_control.uns32_2

Commanded and requested values

ST element

.command_w

.request_r

Data type

UDINT

Return value

ST path

.state_r

Data type

UDINT

Redirection

ST path

.enable_w

Special feature

Available as of Build V3.1.3081.21 or V3.1.3135.0

Is an SGN value was parameterised as data type in P-AXIS-00855, the sign information is located at Bit 31 (counting from 0).

These values can also be provided to the position controller interface. See Read drive data cyclically (gpAx[axis_idx]^.lr_state.uns32_1)

Read drive data

Description

Data transferred by the drive to the NC kernel. The content is application-specific

This data is also provided in parallel in the state of the control unit, see Read/write drive data cyclically

Signal flow

CNC → PLC

ST path

gpAx[axis_idx]^.lr_state.uns32_<i>

where i = [1, 4] e.g. gpAx[axis_idx]^.lr_state.uns32_2

Data type

UDINT

Access

PLC is reading

Special features

Therefore, enable transfer of the value in the axis parameter list to the drive, e.g.: