#ECS in connection with manual mode

The initial situation is the use of a rotated PCS. In this situation, the tool is to be moved in the tool direction in manual mode.

By default, manual mode is activated via the PLC with the activation string “G200”.

An extended sequence in the PLC is required to activate the function in the present case. The sequence must contain the following:

• Activate the kinematic used ID(#KIN ID[<ID>]); alternatively, save the kinematic ID in the tool.
• Activate the effector coordinate system (#ECS ON)
• Activate manual mode (G200)
• Activate the control elements of the 3 axes involved
• Move the Z axis (3rd main axis) in incremental or continuous jog mode

Extended string sequence

#KIN ID[< kinematic ID >]$R§N (or D <tool ID>$R§N)

#ECS ON $R§N

G200

Notice

It is imperative to terminate the sequence with G200.
$R§N : String denoting line break in IEC61131-3.