Axis control commands

Feed rate enable, axis
Description	Axis-specific feed rate enable The feed rate enable must be set for all axes to be moved. If this is not the case, no path motion occurs.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	SERCOS drives With SERCOS drives, the datum is derived from bit 13 of the control word.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.release_feedhold
Commanded, requested and return value
ST element	.command_w .request_r
Data type	BOOL
Value range	[TRUE = Drive enable, Transition TRUE → FALSE: The drive is shut down in compliance with the acceleration parameters. FALSE = Drive STOP]
Return value
ST element	.state_r
Data type	BOOL
Value range	[TRUE = Drive enable, FALSE = Drive STOP]
Redirection
ST element	.enable_w

Feedhold ON/OFF, axis
Description	Axis-specific feedhold The axis-specific feedhold on an axis acts as follows: Axis interpolated and moved in path compound: Stop all axes in path compound immediately Axis interpolated and stopped in path compound: Remaining axes in path compound continue to move, Axis interpolated and stopped in path compound, only moves in the next block: Remaining axes in path compound move to current block end and then stop. Axis interpolated as single axis (manual mode, independent axis, SAI axis, spindle): Only this axis is stopped. Otherwise, the global feedhold of the channel acts on al axes except for spindles. The operation mode of the global and axis-specific feedhold can be parameterised for these axes (P-AXIS-00529, P-AXIS-00540).
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpAx[axis_idx]^.ipo_mc_control.feedhold
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = feedhold on, FALSE = feedhold off]
Redirection
ST Element	.enable_w

Directional feedhold, axis
Description	Axis-specific directional feedhold A directional feedhold can be set for all moving axes If an axis command is in the block direction, the axis-specific feedhold is set. An axis-specific directional feedhold acts on an axis in exactly the same way as an axis-specific feedhold. Axis interpolated and moved in path compound: Stop all axes in path compound immediately Axis interpolated and stopped in path compound: Remaining axes in path compound continue to move, Axis interpolated and stopped in path compound, only moves in the next block: Remaining axes in path compound move to current block end and then stop. Axis interpolated as single axis (manual mode, independent axis, SAI axis, spindle): Only this axis is stopped. The directional and normal axis-specific feedholds can be superimposed. Otherwise, the global feedhold of the channel acts on al axes except for spindles. The operation mode of the global and axis-specific feedhold can be parameterised for these axes (P-AXIS-00529, P-AXIS-00540).
Data type	MC_CONTROL_UNS08_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.directional_feedhold
Commanded, requested and return values
ST element	.command_w .request_r .state_r
Data type	USINT
Value range	Value	PLC constant	Meaning
	0	HLI_DIRECTIONAL_FEEDHOLD_NO_FEEDHOLD	The axis is not blocked in any motion direction.
	1	HLI_DIRECTIONAL_FEEDHOLD_POS	The axis is blocked in the positive motion direction.
	2	HLI_DIRECTIONAL_FEEDHOLD_NEG	The axis is blocked in the negative motion direction.
	3	HLI_DIRECTIONAL_FEEDHOLD_POS_NEG	The axis is blocked in the positive and negative motion directions.
Redirection
ST element	.enable_w
Special feature	The axis drive is shut down in compliance with the acceleration parameters. This means that the axis moves a short distance in the blocked direction before stopping. The feedhold always acts on the complete current block, This means that a block can be blocked even if the current direction of axis motion is not pointing in the blocked direction. Available as of V3.1.3079.26 Examples: 1. Example of a circle: A full circle is programmed in the XY plane. A directional feedhold in negative direction is set for the X axis. Although the X axis first moves in the blocked direction after 180°, it does move through the entire circle since both motion directions are contained in the block. 2. Example of polynomial contouring: With polynomial contouring, splitting the contouring movement into several blocks can cause the axis compound to stop before the actual motion in the blocked direction. 3. Special case of a spindle: With a superimposed spindle motion, the direction of spindle motion is determined by setpoints. This causes the axis to move a short distance in the blocked direction from standstill before it stops.

Feedhold watchdog
Description	This control unit is the interface of a watchdog which stops the CNC interpolator by activating a feedhold if the PLC fails. If the axis for which the watchdog was triggered is a member of an axis group and is currently commanded to be in motion, all other axes moved by this command also stop. If this control unit is enabled, the PLC must set the element command_w to TRUE in every PLC cycle. The NC kernel than resets the command back to FALSE. To enable this control unit function, the axis parameter enable_feed_enable (P-AXIS-00313) must be set in many versions of the NC kernel. In other version the function of this control unit is still available.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.enable_feed_wdg
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Signals that PLC is invoked cyclically and executes its function, FALSE]
Redirection
ST element	.enable_w

Feed override, axis
Description	Axis-specific feed override The axis-specific feed override permits weighting the axis path velocity with an additional factor. The axis-specific feed override only acts on an axis if the axis is currently moved in manual mode or as an independent axis and but in a path compound. Otherwise the global override of the channel acts on the axis. The axis-specific feed override also acts on single axes and spindles. With spindles the feed override also acts on the velocity acknowledgement of programmed M3/ M4 or MC_MoveVelocity commands. Velocity acknowledgement occurs when the weighted feed rate is reached and in extreme cases when the feedrate is 0. (see lr_state.rev_erreicht_r)
Data type	MC_CONTROL_UNS16_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.override
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	UINT
Unit	0,1 %
Value range	[0 … P-AXIS-00109] The parameter P-AXIS-00109 is an axis-specific parameter. The value is typically 1000.
Redirection
ST element	.enable_w

Feed override valid, axis
Description	Axis-specific feed override valid.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.override_valid
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Axis-specific feed override valid, FALSE]
Redirection
ST element	.enable_w

Drive ON
Description	Drive ON
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	SERCOS drives With SERCOS drives, the datum is derived from bit 15 of the control word.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.drive_on
Commanded and requested values
ST element	.command_w .request_r
Data type	BOOL
Value range	[TRUE = Drive ON, Transition TRUE → FALSE: The drive is shut down in the best possible manner. FALSE = Drive OFF]
Return value
ST element	.state_r
Data type	BOOL
Value range	[TRUE = Drive ON, FALSE = Drive OFF]
Redirection
ST element	.enable_w

Enabling of drive controller
Description	Control unit enable ↔ axis-specific torque connection.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	SERCOS drives With SERCOS drives, the datum is derived from bit 14 of the control word.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.torque_permission
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Torque connection, FALSE = Drive is torque-free]
Redirection
ST element	.enable_w

The diagram below shows the relationship between HLI control units and the SERCOS control word or the SERCOS status word for SERCOS drives.

Interaction of control units and SERCOS control or status words

Reference cam
Description	Reference cam signal when homing.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	When this signal is commanded, it only acts if the parameter lr_hw[i].cam_direct_access = 0 (P-AXIS-00036) is set in the axis machine data record of the associated axis. When the parameter lr_hw[i].cam_level (Description) is used in the axis machine data record, the effect of this command can be parameterised from high-active to low-active. The default action is described below.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpAx[axis_idx]^.lr_mc_control.reference_cam
Commanded, requested and return values
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Reference cam switched, FALSE = Reference cam not switched]
Redirection
ST Element	.enable_w

Reduced velocity, axis
Description	When this signal is set, the axis velocity in G00 and G01 is reduced to the values defined in the axis parameters P-AXIS-00214 or P-AXIS-00155.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Special features	If this axis is in a channel, the limits of the other axes participating in the motion are also considered. The effective value for reduced velocity is determined so that none of the axes participating in the motion overshoots its configured limit. The response is then identical to the command via a channel.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.reduced_speed
Commanded, requested and return values
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Reduced velocity active, FALSE = Reduced velocity not active]
Redirection
ST element	.enable_w

Reduced velocity in zone 1, axis
Description	By setting this signal, the axis velocity is limited to the velocity defined in the axis parameter P-AXIS-00030 when the axis is located within the range defined by the parameters P-AXIS-00085 and P-AXIS-00093. If necessary the axis is decelerated after entering the zone.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	If the axis is in a channel, the limits of the other axes participating in the motion and also located within their configured zone are considered.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAX[axis_idx]^.ipo_mc_control.reduced_speed_zone
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Reduced velocity in zone 1 active, FALSE = Reduced velocity in zone 1 not active]
Redirection
ST element	.enable_w

Reduced velocity in zone 2, axis
Description	By setting this signal, the axis velocity is limited to the velocity defined in the axis parameter P-AXIS-00030 when the axis is located within the range defined by the parameters P-AXIS-00097 and P-AXIS-00105. If necessary the axis is decelerated after entering the zone.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	If the axis is in a channel, the limits of the other axes participating in the motion and also located within their configured zone are considered.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAX[axis_idx]^.ipo_mc_control.reduced_speed_2_zone
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Reduced velocity in zone 2 active, FALSE = Reduced velocity in zone 2 not active]
Redirection
ST element	.enable_w

Suppressing Read-In Enable
Description	Suppressing Read-In Enable When the read-in enable (setting NoEfg) is cleared, the interpolator does not read any new previously decoded NC motion information, i.e. the motion is stopped at the end of the current commands in the interpolator.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.no_efg
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = No Read-In Enable, FALSE = Read-In Enable]
Redirection
ST element	.enable_w

Machining simulation, axis
Description	Activates and deactivates an axis-specific machining simulation. During machining simulation, all axis-specific technology commands of the NC program are no longer output to the PLC but are acknowledged internally.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.machining_simulation
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Machining simulation active, FALSE = Machining simulation inactive]
Redirection
ST element	.enable_w

Ignoring minimum tool velocity
Description	If a value for minimum tool velocity is configured at tool change, the NC kernel monitors that this limit is not undershot by specifying an override. This control unit can switch this response off and the override acts on the axis as specified.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	Control unit is only effective if the axis is a spindle.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.ignore_vb_min_tool
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Undershooting minimum tool velocity permitted, FALSE]
Redirection
ST element	.enable_w

OTC offset
Description	When this wear offset is set, wear in the direction of this axis can be compensated. When the SURF_NORM_ORI mode is used (wear in the direction of the surface normal), the offset value must be assigned in the third axis.
Data type	MC_CONTROL_SGN32_UNIT, see description of Control Unit
Special features	The wear offset is distributed by the CNC over several cycles.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpAx[axis_idx]^.ipo_mc_control.otc_offset
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	DINT
Unit	0.1 µm
Value range	[-P-TOOL-00031, P-TOOL-00031]
Redirection
ST Element	.enable_w

Move back manual mode offset
Description	If manual mode is active in the channel and if the commanded axis fails to move, the axis is moved by this command so that afterwards manual mode offset is 0.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	A rising edge (FALSE → TRUE) at command_w triggers the process. The signal is ignored if a manual mode motion is still active or manual mode offset is already 0.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpAx[axis_idx]^.ipo_mc_control.manual_mv_back_to_start
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Value range	rising edge (FALSE → TRUE) triggers backward motion
Redirection
ST Element	.enable_w

Stop the motion “Move back manual mode offset”
Description	The motion that was started by the Control Unit command “Move back manual mode offset” is stopped by the Control Unit with this command.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	A rising edge (FALSE → TRUE) initiates the command. Up to final axis standstill, the datum Axis-specific interpolator shows that the stop process is active by the HLI_AX_MAN_MV_BACK_WAIT_STOP bit.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.ipo_mc_control.manual_mv_back_stop
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = rising edge stops the motion, FALSE]
Redirection
ST element	.enable_w

Tracking operation
Description	The axis is set to tracking mode, i.e. the commanded setpoint is set identical to the actual value read in. Setting the setpoint and actual values equal is executed until command_w = TRUE.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	By setting the setpoint and actual value equal, the current position lag is = 0. This may result in an external force (weight of the axis) slowly changing the axis position (drift).
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.follow_up
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = control loop open, FALSE]
Redirection
ST element	.enable_w

Running out gantry difference
Description	If the axis is a gantry slave axis and both the master and slave are referenced, the gantry difference is run out.
Data type	MC_CONTROL_BOOL_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.gantry_on
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Gantry difference runout permitted, FALSE]
Redirection
ST element	.enable_w

Accepting reference position
Description	Accept the reference position and mark the axis as referenced on a rising edge of this control unit. Depending on the value of the parameter P-AXIS-00278 the actual axis position is set to the following value:
	P-AXIS-00278	Reference position of the axis
	ABSOLUT	Value of P-AXIS-00152
	OFFSET	Encoder position of the drive + P-AXIS-00279
	PLC	Value in the refpos_position control unit.
	PLC_OFFSET	Encoder position of the drive + value in the refpos_position control unit.
	The state_r variable indicates whether the reference position was set manually and the coordinate system was shifted as a result. The manual setting can be cleared by CNC-controlled homing (G74). The reference position can also be set manually for an axis with absolute measuring system.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	Edge evaluation: The function is triggered on the rising edge at the command input.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpAx[axis_idx]^.lr_mc_control.set_reference_position
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE, FALSE]
Redirection
ST Element	.enable_w

Reference position to be set
Description	If the parameter P-AXIS-00278 in the axis parameter list is set to the value “PLC” or “PLC_OFFSET”, the value of this control unit is used to calculate the setting position when acceptance of the reference position is triggered via the HLI (see also the control unit set_reference_position). In this case, there are options on how to use the value of this control unit. See below:
	P-AXIS-00278	Reference position of the axis
	PLC	Value in this control unit.
	PLC_OFFSET	Encoder position of the drive + value in this control unit.
Data type	MC_CONTROL_SGN32_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.refpos_position
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	DINT
Unit	0.1 µm or 10-4°
Value range	[MIN_SGN32, MAX_SGN32]
Redirection
ST Element	.enable_w

Clearing referencing
Description	If an axis was homed by setting the reference position or by G74, this state can be cleared by using the actual control unit. If an axis has an absolute measuring system, the axis is subsequently considered as not referenced (it can by referenced again by a G74). This switches off the software limit switches temporarily, for example. Any offset activated by the control unit “Setting the reference position” is not cleared. The variable state_r indicates whether the axis is currently not referenced.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	As long as the command (command_w) of the control unit is TRUE, the axis is regarded as not referenced and can also be marked as referenced by triggering acceptance of the reference position (see also the control unit set_reference_position).
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.clear_reference_position
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE, FALSE]
Redirection
ST element	.enable_w

Measurement signal
Description	This control unit can transfer the probing signal. When this control unit is used, set the entry kenngr.measure.signal (P-AXIS-00516) to “PLC” or “PLC_TIMESTAMP” in the parameter list of the associated axis.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	Edge evaluation: Use the edge parameterised in the axis parameter list in the entry kenngr.mess_neg_flanke (P-AXIS-00518) to accept the measured value.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpAx[axis_idx]^.lr_mc_control.probing_signal
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE, FALSE]
Redirection
ST Element	.enable_w

Measurement value, axis
Description	If the axis parameter P-AXIS-00257 or the NC command #MEAS […SIGNAL=PLC] changed over the measurement signal source to the control unit probing_signal, activate this control unit in addition to the to transfer the measurement value via the HLI.
Data type	MC_CONTROL_SGN32_UNIT, see description of Control Unit
Special features	If this control unit is not activated, the actual position of the axis on the rising edge of command_w of the control unit probing_signal is used as the measurement value. The value assigned to the element command_w of the probing_position control unit is transferred to the decoder without any changes and is then available for further calculations.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.probing_position
Commanded, requested and return values
ST element	.command_w .request_r .state_r
Data type	DINT
Unit	0,1 µm bzw. 10^-4 °
Value range	[MIN_SGN32, MAX_SGN32]
Redirection
ST element	.enable_w

Deactivating an axis (park)
Description	Axis-specific deactivation of an axis. With a deactivated axis the following actions are not executed by the NC kernel: Error monitoring: errors signalled by the drive are not indicated by the CNC. HLI control bits are not transferred to the drive. A CNC reset does not trigger a drive reset. If you try to move a parked axis the error message P-ERR-70265 is issued. No actions are executed in the drive.
Data type	MC_CONTROL_BOOL_UNIT, see description of Control Unit
Special features	PROFIDRIVE drives: When this control unit is active, the bit 0x80 in set in the control word 2 (STW2).
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpAx[axis_idx]^.lr_mc_control.deactivate_axis
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = axis is deactivated, FALSE = axis is active (default mode)]
Redirection
ST element	.enable_w

Timestamp
Description	This control unit transfers the timestamp of a digital input terminal to the CNC via the HLI.
Data type	MC_CONTROL_SGN64_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.timestamp
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	LINT
Unit	[ns]
Value range	[MIN_SGN64, MAX_SGN64]
Redirection
ST Element	.enable_w
Special features	If the timestamp is used for the function “Measure with distributed clocks timestamp”, the probing_signal control unit must also be enabled. Available as of CNC Build V3.01.3079.28

Additional information