Control unit

Dynamic CS
Description	Control unit to switch over dynamic CS tracking.
Data type	MC_CONTROL_DYN_CS_UNIT
ST path	gpCh[channel_idx]^.channel_mc_control.dyn_cs
Commanded, requested data
ST element	.command_w .request_r
Data type	HLI_COORDINATE_SYSTEM_INT translation: ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT;
		X/Y/Z translation in [0.1 µm]
	rotation : ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT;
		A/B/C rotation in [0.0001 degree]
Access	PLC writes command and reads request
Return data
ST element	.state_r
Data type	HLI_DYN_CS_STATE actual_state : DINT;	HLI_DYN_CS_INACTIVE = 0
		HLI_DYN_CS_ACTIVATING = 1,
		HLI_DYN_CS_ACTIVE = 2,
		HLI_DYN_CS_DEACTIVATING = 3,
		HLI_DYN_CS_ERROR = -1
Access	PLC is reading
Flow control of commanded value
ST element	.command_semaphor_rw
Data type	BOOL
Value range	[TRUE, FALSE]
Special features	Consumption data item
Access	CNC accepts the commanded data if this element has the value TRUE and sets this element to the value FALSE after complete acceptance of the data. PLC can write data for commanding if this element has the value FALSE. The PLC sets this element to the value TRUE if all data to be commanded is written.
Flow control of requested data
ST element	.request_semaphor_rw
Data type	BOOL
Value range	[TRUE, FALSE]
Special features	Consumption data item
Access	CNC writes the data requested by the GUI if this element is FALSE and then sets this element to TRUE. PLC reads the data requested by the GUI if this value is TRUE. After the PLC fully accepts the data, the PLC sets this element to FALSE.
Redirection
ST path	gpCh[channel_idx]^.channel_mc_control.dyn_cs.enable_w

Transition
ST path	gpCh[channel_idx]^.channel_mc_control.dyn_cs.transition_w
Data type	HLI_DYN_CS_TRANSITION
	command	: DINT;	(* -1:DEACTIVATE, 1:ACTIVATE *)
	filter_max_ticks	: UDINT;	(* filter for turning ON/OFF, compare #TRACK CS ON [ID=<i> ...FILTER... *)
	option	: UDINT;	(* additional option, compare #TRACK CS ON [ID=<i> ...OPTION... *)
	f_wait	: BOOL;	(* #TRACK CS ON [ ...WAIT... *)
	f_set_zero	: BOOL;	(#TRACK CS ON [ ...SET_ZERO... )
	f_kin_base	: BOOL;	(* #TRACK CS ON [ ...KIN_BASE... *)
	f_rot_trans	: BOOL;	(* #TRACK CS ON [ ...ROT_TRANS... *)
	kinematic_base_cs	: HLI_COORDINATE_SYSTEM_INT;
		(* add. shift between error and kinematic base, #TRACK CS ON [ID=<i> X=. Y=. *)
Access	PLC writes the transition in analogy to the NC command #TRACK CS [ID=0 …] and CNC reads the transition. Correct NC/PLC handshake: First assign all parameters and then set command to +/-1.

Programming Example

Control unit

TYPE HLI_COORDINATE_SYSTEM_INT :

STRUCT

translation : ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT;

fill_up_2 : DINT;

rotation : ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT;

fill_up_1 : DINT;

END_STRUCT

END_TYPE

TYPE HLI_DYN_CS_STATE :

STRUCT

actual_state : UDINT;

fill_up_1 : DINT;

END_STRUCT

END_TYPE

TYPE HLI_DYN_CS_TRANSITION :

STRUCT

command : DINT;

filter_max_ticks : UDINT;

option : UDINT;

f_wait : BOOL;

f_set_zero : BOOL;

f_kin_base : BOOL;

f_rot_trans : BOOL;

kinematic_base_cs : HLI_COORDINATE_SYSTEM_INT;

END_STRUCT

END_TYPE

TYPE MC_CONTROL_DYN_CS_UNIT :

STRUCT

enable_w : BOOL; (* MC <-- PLC takes care *)

request_semaphor_rw : BOOL; (* Valid semaphore *)

command_semaphor_rw : BOOL; (* Valid semaphore *)

fill_up_1 : BOOL;

fill_up_2 : DINT;

request_r : HLI_COORDINATE_SYSTEM_INT;

command_w : HLI_COORDINATE_SYSTEM_INT;

transition_w : HLI_DYN_CS_TRANSITION;

state_r : HLI_DYN_CS_STATE;

END_STRUCT

END_TYPE