Axis positions in the ACS
Target position (ACS) | |
Description | Target position in the current NC block, ACS. This represents the target position of the program coordinate system referred to the axes. It is valid only as long as no transformation is active. Currently, the target position is not transformed back onto the axes. |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.end_position_acs_r |
Data type | DINT |
Unit | 0,1 µm |
Access | PLC reads |
Actual position (ACS) | |
Description | Actual position of the current cycle in the axis coordinate system |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.current_position_acs_r |
Data type | DINT |
Unit | 0,1 µm |
Access | PLC reads |
Command position (ACS) | ||
Description | Command position of current cycle in the axis coordinate system | |
Signal flow | CNC → PLC | |
ST path | gpAx[axis_idx]^.lr_state.active_position_acs_r | |
Data type | DINT | |
Unit | 0.1 µm | |
Access | PLC is reading | |
Command position (ACS) from interpolator | |
Description | Command position in the axis coordinate system which is refreshed each interpolator cycle. |
Signal flow | CNC → PLC |
ST path | gpCh[channel_idx]^.bahn_state.coord_r[axis_idx].acs_position_r |
Unit | 0.1 µm |
Data type | DINT |
Access | PLC is reading |
Position offset | |
Description | Display of the current offset of the absolute position between the position controller axis (real physical axis) and the interpolator axis (logical axis) currently linked in the axis coordinate system. The display here shows an offset between the interpolator position and the position controller position caused by the use of functions such as “jog of path” (see [FCT-C15]. The offset displayed contains no offsets caused by zero offsets, for example. |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.position_offset_r |
Data type | DINT |
Unit | 0.1 µm |
Access | PLC is reading |
Look ahead command positions | |
Description | Due to internal implementation, a setpoint calculated by the interpolator is only effective after a few interpolator cycles in the position controller and also in the drive. This array indicates the command positions that are calculated by the interpolator but not yet output to the position controller. As a result the PLC can monitor axis motions based on future but not executed axis motions. The maximum possible index in this array is defined in the constant HLI_POS_LOOKAHEAD_MAXIDX. The array element position[HLI_POS_LOOKAHEAD_MAXIDX] contains the position calculated in the actual interpolator cycle. The element When the axis parameter P-AXIS-00256 is set, the delay between interpolator and position controller is deactivated; in this case all array elements contain the command position calculated in the current interpolator cycle. |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.ipo_state.position_lookahead_r.position[.] |
Data type | ARRAY [0..HLI_POS_LOOKAHEAD_MAXIDX] OF DINT |
Unit | 0,1 µm |
Access | PLC reads |
Special features | This datum is only available as of Version V3.00 and higher. |