ManMode (manual traversing of single axes)

This state allows for traversing of single axes of the axes group in the following subfunctions:

  • Absolute positioning
  • Relative positioning
  • Jogging (inching mode)

During the action motion of one or several axes, any further axis of the coordinate system can be instructed in the same subfunctionality.

  • Switching between the subfunctions is only possible if all axes of the axes group are at standstill.
  • Changing the coordinate system to be traversed (e.g. from ACS to MCS) is only possible if all axes of the axes group are at standstill.
Inputs for this operating mode

Name

Data type

Information/possible settings

scPar

L_MC4P_AGBC_Parameter

Structure of the required FB parameters

Parameter (structure L_MC4P_AGBC_Parameter)

alrSetPosDist

ARRAY [1..12] OF LREAL

Absolute/Relative target position of the movement

  • [1; 6]
    • Coordsystem = ACS: Target position of the drive axes
    • Coordsystem = WCS , MCS or PCS : Target position of the TCP in the selected coordinate system
  • Index 7 ... 12:
    • Target position of the optionally available auxiliary axes

axJogPos

ARRAY [1..12] OF BOOL

TRUE

Jogging in positive direction.

Axis assignment:

  • Index 1 ... 6: Depending on the eCoordSystem input
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

L_MC1P_ManualJog

axJogNeg

ARRAY [1..12] OF BOOL

TRUE

Jogging in negative direction.

Axis assignment:

  • Index 1 ... 6: Depending on the eCoordSystem input
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

L_MC1P_ManualJog

axMoveAbs

ARRAY [1..12] OF BOOL

FALSE ä TRUE

Instruct axes with absolute positioning.

Axis assignment:

  • Index 1 ... 6: Depending on the eCoordSystem input
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

MC_MoveAbsolute

axMoveRel

ARRAY [1..12] OF BOOL

FALSE ä TRUE

Instruct axes with relative positioning.

Axis assignment:

  • Index 1 ... 6: Depending on the eCoordSystem input
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

MC_MoveRelative

eCoordSystem

L_MC4P_CoordSystem

Selection of the coordinate system to be used:

  • WCS: World Coordinate System
  • MCS: Machine Coordinate System
  • ACS: Axes Coordinate System
  • PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

Coordinate systems and transformations

Outputs for this operating mode

Name

Data type

Value/meaning

alrSetPosOut

ARRAY [1..12] OF LREAL

Setpoint position in the selected eCoordSystem coordinate system

alrActPos

ARRAY [1..12] OF LREAL

Current actual position in the selected eCoordSystem coordinate system

alrActFollowingError

ARRAY [1..12] OF LREAL

Current following error in the selected eCoordSystem coordinate system

alrSetVelOut

ARRAY [1..12] OF LREAL

Setpoint velocity in the selected eCoordSystem coordinate system

alrActVel

ARRAY [1..12] OF LREAL

Current actual velocity in the selected eCoordSystem coordinate system

Parameters for this operating mode

Name

Value/meaning

Setpoints for jogging: For translatory motion of the Cartesian axes (X, Y, Z)

lrCartesianJogVel

LREAL

10

Velocity in [unit/s]

lrCartesianJogAcc

LREAL

100

Acceleration in [unit/s 2 ]

lrCartesianJogDec

LREAL

200

Deceleration in [unit/s 2 ]

lrCartesianJogJerk

LREAL

10000

Jerk in [unit/s 3 ]

Setpoints for jogging: For rotary motion of the Cartesian axes (A, B, C)

lrOrientationJogVel

LREAL

5

Velocity in [unit/s]

lrOrientationJogAcc

LREAL

50

Acceleration in [unit/s 2 ]

lrOrientationJogDec

LREAL

100

Deceleration in [unit/s 2 ]

lrOrientationJogJerk

LREAL

5000

Jerk in [unit/s 3 ]

Setpoints for jogging of real axes (A1 ... A6) and auxiliary axes (Aux1 ... Aux6)

lrRealAxisJogVel

LREAL

5

Velocity in [unit/s]

lrRealAxisJogAcc

LREAL

50

Acceleration in [unit/s 2 ]

lrRealAxisJogDec

LREAL

100

Deceleration in [unit/s 2 ]

lrRealAxisJogJerk

LREAL

5000

Jerk in [unit/s 3 ]

Setpoints for absolute/relative positioning: For translatory motion of the Cartesian axes (X, Y, Z)

lrCartesianMoveVel

LREAL

10

Velocity in [unit/s]

lrCartesianMoveAcc

LREAL

100

Acceleration in [unit/s 2 ]

lrCartesianMoveDec

LREAL

200

Deceleration in [unit/s 2 ]

lrCartesianMoveJerk

LREAL

10000

Jerk in [unit/s 3 ]

Setpoints for absolute/relative positioning: For rotary motion of the Cartesian axes (A, B, C)

lrOrientationMoveVel

LREAL

5

Velocity in [unit/s]

lrOrientationMoveAcc

LREAL

50

Acceleration in [unit/s 2 ]

lrOrientationMoveDec

LREAL

100

Deceleration in [unit/s 2 ]

lrOrientationMoveJerk

LREAL

5000

Jerk in [unit/s 3 ]

Setpoints for absolute/relative positioning of real axes (A1 ... A6) and auxiliary axes (Aux1 ... Aux6)

lrRealAxisMoveVel

LREAL

5

Velocity in [unit/s]

lrRealAxisMoveAcc

LREAL

50

Acceleration in [unit/s 2 ]

lrRealAxisMoveDec

LREAL

100

Deceleration in [unit/s 2 ]

lrRealAxisMoveJerk

LREAL

5000

Jerk in [unit/s 3 ]

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