Control commands of a channel

Skip mode, NC block
Description	Activates/deactivates skip mode at interpreter level for the NC program. The status of skip mode is only evaluated at the start of the NC program. Switchover during execution of an NC program has no effect.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit Available as of CNC Build V3.01.3021.1 MC_CONTROL_UNS32_UNIT
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.decoder_mc_control.program_block_ignore
Commanded, requested and return values
ST element	.command_w .request_r .state_r
Data type	BOOL or UNS32
Value range	[TRUE = Skip mode NC block ON, FALSE = Skip mode NC block OFF, default: FALSE]
	Available as of CNC Build V3.01.3021.1 for UNS32: 0x0 - Skip mode NC block OFF 0x1 – Skip level 1 0x2 - Skip level 2 0x4 - Skip level 3 0x8 - Skip level 4 0x10 – Skip level 5 0x20 - Skip level 6 0x40 - Skip level 7 0x80 - Skip level 8 0x100 – Skip level 9 0x200 - Skip level 10 Skip levels active simultaneously are enabled by bitwise ORing. Example: Enable all skip levels by setting 0x3FF.
Redirection
ST element	.enable_w

Single-block mode at interpreter level NC block
Description	Activates/deactivates single-block mode at interpreter level. A restart must be present for each block
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	Not supported
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.decoder_mc_control.single_block
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = single-block mode ON, FALSE]
Diversion
ST Element	.enable_w

Enable processing of next NC block
Description	Enable to process the next NC block. This element serves to synchronise the geometry chain with the PLC. For this purpose, the PLC blocks the single-block step enable and thus stops the interpreter.
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	Is currently not supported.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.decoder_mc_control.continue_machining
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

Continuation NC program decoding
Description	Continues decoding an NC program after an error has occurred if syntax check (simulation mode) and interactive step enabling of decoding is activated (decoder parameter, characteristic parameter: syn_chk.interaktiv = 1).
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	Is currently not supported.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.decoder_mc_control.release_stop
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

Stop NC program decoding
Description	Stops decoding an NC program if interactive enabling of further processing of the NC program was activated in Syntax Check Simulation mode.
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	Is currently not supported.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.decoder_mc_control.dec_stop
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

Channel operation mode
Description	Selects a special channel operation mode, e.g. syntax check or machining time calculation
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	gpCh[channel_idx]^.decoder_mc_control.execution_mode
Commanded, requested and return values
ST element	.command_w .request_r .state_r
Data type	DINT
Value range	Value	Constant	Meaning
	0x0000	ISG_STANDARD	Normal mode
	0x0001	SV	Block search
	0x0002	SOLLKON	Nominal contour visualisation simulation with output of visualisation data
	0x0802	SOLLKON_SUPRESS_OUTPUT & SOLLKON	Nominal contour visualisation simulation without output of visualisation data
	0x0004	ON_LINE	Online visualisation simulation
	0x0008	SYNCHK	Syntax check simulation
	0x0010	PROD_TIME	Simulation machining time calculation (in TwinCAT without function)
	0x0020	ONLINE_PROD_TIME	Simulation online machining time calculation
	0x0040	MACHINE_LOCK	Dry run without axis motion
	0x0080	ADD_MDI_BLOCK	Extended manual block mode: the end of a manual block is not evaluated as a program end. It permits the commanding of further manual blocks.
	0x0100	KIN_TRAFO_OFF	Overwrites automatic enable for kinematic transformations by a characteristic parameter defined in the channel parameters (sda_mds*.lis).
	0x1000	BEARB_MODE_SCENE	When SCENE mode is enabled, the output of #SCENE commands is activated on the interface (see also [FCT-C17// Scene contour visualisation]). An additional client is linked to this output via DataFactory / CORBA.
	0x2000	SUPPRESS_TECHNO_OUTPUT	Without output of technology functions (M/H/T). Set implicitly in connection with syntax check.
	0x10000	SUPPRESS_POSITION_REQUEST	Fast program start without position request at program start
	0x20000	SUPPRESS_PROG_START_INIT	Suppress program start sequence for machining on the belt
Redirection
ST element	.enable_w

Index of position offset group
Description	A position offset defines an additional offset. For instance, this takes into consideration different clamping positions of a workpiece in a machine workspace. Position offsets are defined in the position offset data. The position offsets for each axis are specified in a position offset group. A position offset group is selected by the group index. Position offset data is evaluated by the CNC at program start.
Data type	MC_CONTROL_SGN16_UNIT, see description Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.decoder_mc_control.clamp_position
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	INT
Value range	[0, 67]
Redirection
ST element	.enable_w

Feedhold ON/OFF type 1
Description	Channel-specific feedhold. Setting this element to TRUE means immediate ramp-down of the feed rate during interpolation in accordance with the parameterised accelerations to feed rate = 0.
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	The channel-specific parameter P-CHAN-00097 can be used to exert additional influence on the parameterised accelerations to be used. Feedhold ON/OFF can also be commanded by the control unit for switching operation modes (see Sec. 8.2). A HOLD command results in stopping the channel; a RESUME command cancels the stop command. If the PLC is registered at both control units, pay attention to the following safety note:
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.feedhold
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Feedhold ON, FALSE]
Redirection
ST element	.enable_w

CAUTION

Stop command to CNC is not executed.

Possible damage to machine.

Similar to other control units, a command from an external application, e.g. an HMI, is indicated in request_r. If the PLC operates this control unit and therefore set enable_w to TRUE, the command from the external application only becomes effective when request_r is written to command_w. Here the semaphores must be operated as usual.

This must also be considered if the PLC operates the control unit in order to switch operation modes (see section 8.2) and therefore sets the enable_w to TRUE A HOLD command sent by this control unit triggers the NC kernel to send a request to activate feedhold. This is again indicated in request_r of the control unit described here and only becomes effective when the PLC copies PLC request_r to command_w. This also applies to cancelling feedhold.

The figures below depict these functions.

Interaction between feedhold and NC channel stop

Time sequence of feedhold and NC channel stop

Feedhold ON/OFF type 2
Description	When this element is set to TRUE, the feed rate is immediately ramped down to feed rate = 0 during interpolation.
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	Irrespective of the channel-specific parameter P-CHAN-00097, the effective deceleration is defined by the values of the parameterised feedhold acceleration which is specified by the axis parameters P-AXIS-00024, P-AXIS-00053 (a_feedh) and P-AXIS-00081 (tr_feedh).
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.e_feedhold
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Emergency stop, feedhold ON, FALSE]
Redirection
ST element	.enable_w

Emergency stop, channel
Description	If this emergency stop element is set active (TRUE), interpolation is aborted immediately by output of the zero setpoint or by a deceleration as specified in the emergency deceleration. The NC kernel reverts to error state. This type of motion influence has maximum priority.
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	gpCh[channel_idx]^.bahn_mc_control.emergency_stop
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Emergency stop active, FALSE]
Redirection
ST element	.enable_w

Single-block mode
Description	Activating/deactivating single-block mode. Single-block mode refers only to motion blocks. As long as single-block mode is activated, the system is decelerated to feed rate = 0 at the end of each motion block. The following blocks can then only be executed by setting the element “continue motion” if all axes are located in the control window.
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	gpCh[channel_idx]^.bahn_mc_control.single_block
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

Optional stop
Description	Activating/deactivating optional stop. If the function M01 (optional stop) is programmed in the current block of the NC program, set this element to the value TRUE to stop at block end (ramped-down deceleration complying with the permissible accelerations). The following block can be enabled by activating the element “continue machining” if the NC kernel indicates that all axes are located within the control window by resetting the status flag wait_axes_in_position_r.
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	gpCh[channel_idx]^.bahn_mc_control.m01_stop_enable
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Optional stop active, FALSE]
Redirection
ST element	.enable_w

Resumption of motion
Description	If program execution is interrupted by selecting "Single block mode" or"Optional stop" or by M00, this control unit can resume NC program execution. A falling edge for the command value (command_w) of the control unit "Continue motion", i.e. a transition from TRUE to FALSE, leads to a resumption of NC program execution. The condition for this is that all axes are located in the control window.
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	Falling edge of the command resumes NC program execution.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.continue_motion
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

Machining simulation ON/OFF
Description	Activating/deactivating machining simulation. During machining simulation, all technology functions of the NC program are not output to the PLC but are acknowledged internally.
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	gpCh[channel_idx]^.bahn_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

Feed override
Description	Feed override allows the programmed path velocity to be weighted with an additional factor
Data type	MC_CONTROL_UNS16_UNIT, see description Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.override_feedrate
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	UINT
Unit	0,1 %
Value range	[0, P-CHAN-00056] The parameter P-CHAN-00056 is a channel-specific parameter. The value is typically 1000.
Redirection
ST element	.enable_w

Rapid traversing override
Description	The rapid traverse override can weight G0 path motions by an additional factor. See also special features.
Data type	MC_CONTROL_UNS16_UNIT, see description Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.override_rapid_move
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	UINT
Unit	0,1 %
Value range	[0, 1000]
Redirection
ST element	.enable_w
Special features
Parameterisation/ mode of operation	Rapid traverse override is only active if this function is also activated in the channel parameter list. Otherwise, there is no distinction made between feed and rapid traverse blocks. Setting options in the channel parameter P-CHAN-00181: Rapid traversing override is inactive. Rapid traversing override acts on feed and rapid traversing blocks. Rapid traversing override is active. Feed override acts on feed blocks and the minimum of feed and rapid traversing override acts on rapid traversing blocks. Rapid traversing override is active. Feed override acts on feed blocks and only rapid traversing override acts on rapid traversing blocks.

Interrupt output of command values to real axes
Description	This interrupts the output of NC channel command values to physical axes. The NC channel is stopped and assignment to the real axes is disabled. Physical axes can then be requested and moved by another channel. A different logical axis can be linked to a physical axis here. After clearing this interruption, the axes can be requested again and the original channel continues its motion.
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	gpCh[channel_idx]^.bahn_mc_control.suspend_axis_output
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

External path velocity specified
Description	External path velocity specified. The path velocity setting is activated by the control unit ext_command_speed_valid. If the velocity specified in negative, the tool moves backwards along the path.(See FCT-C7// Forward/backward motion on the path)
Data type	MC_CONTROL_UNS32_UNIT, see description of Control Unit
Special features	The path velocity transferred by this interface is automatically restricted to the limits defined in the axis parameters.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.bahn_mc_control.ext_command_speed
Commanded, requested value
ST Element	.command_w .request_r
Data type	UDINT
Unit	1 μm/s
Return value
ST Element	.state_r
Data type	UDINT
Unit	1 μm/s
Special features	The state_r element indicates the path velocity actually used in the interpolator, including any influence by override. By default the externally specified velocity only affects machin8ing motions (G01, G02, G03). The channel parameter P-CHAN-00102 (plc_command_rapid_feed) can set whether the externally specified velocity also acts on rapid traverse motions (G00).
Redirection
ST Element	.enable_w

Activation of external path velocity
Description	Activate the velocity commanded in the ext_command_speed control unit. To reach the commanded velocity, all axes involved in the motion are accelerated or decelerated. If this value is TRUE, the sign is considered in the current path feed (active_feed_r control unit).
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	gpCh[channel_idx]^.bahn_mc_control.ext_command_speed_valid
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

Input disable, interpolator
Description	When the control unit is activated, the interpolator stops after it has processed the input command blocks since this control unit can disable the input of further command blocks. The channel parameter P-CHAN-00267 can define the event at which an activated input disable becomes effective, e.g. effective as of the next rapid traverse block.
Data type	MC_CONTROL_BOOL_UNIT, see description Control Unit
Special features	See safety not below.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.input_disable
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

CAUTION

Stop command to CNC is not executed.

Possible damage to machine.

This must also be considered if the PLC operates the control unit in order to switch operation modes (see section 8.2) and therefore sets the enable_w to TRUE A HOLD command given by this control unit triggers the NC kernel to request input disable. This is again indicated in request_r of the control unit described here and only becomes effective when the PLC copies PLC request_r to command_w. The same also applies to cancelling input disable.

The figures below depict these functions.

Interaction of input disable and NC channel stop

Time sequence of input disable and NC channel stop

Reduced velocity, channel
Description	When this signal is set, the path velocity is reduced to the values defined in the axis parameters P-AXIS-00214 and P-AXIS-00155.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	The limits of the axes participating in the motion are taken into consideration. The effective value for reduced velocity is determined so that none of the axes participating in the motion overshoots its configured limit.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.bahn_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, channel
Description	When this signal is set, the path velocity is limited to the velocity defined in the axis parameterP-AXIS-00030 if the axis is located within the area 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 Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_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, channel
Description	When this signal is set, the path velocity is limited to the velocity defined in the axis parameterP-AXIS-00030 if the axis is located within the area 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 Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_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

Path acceleration reduction
Description	This control unit is used to reduce path acceleration while the program is running. The change in acceleration is time-delayed and is therefore only suitable for slow changes. The state of the control unit returns the commanded value as soon as the value is accepted the first time. If a value outside the value range is commanded, the value is not accepted and the state 0 is displayed.
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	gpCh[channel_idx]^.bahn_mc_control.reduction_acceleration
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	UDINT
Unit	[0.1%]
Value range	[0, 999]
Redirection
ST element	.enable_w

Activation of reduced manual mode acceleration
Description	This control unit activates the parameterised reduced maximum axis acceleration (P-AXIS-00545) in manual mode without any parallel interpolation.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Access	PLC reads requested + feedback values and writes commanded value + redirection.
ST path	gpCh[channel_idx]^.bahn_mc_control.reduced_acceleration
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

Time override valid
Description	Time override is activated
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	gpCh[channel_idx]^.bahn_mc_control.command_t_ovrd_valid
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Time override is activated, time override is not activated]
Redirection
ST element	.enable_w

Time override
Description	Time override can influence the internal CNC time base for motions. Its effect is similar to slow motion. Time override affects path velocity and acceleration differently. Example: If time override is 50% (command_w = 500) the velocity is reduced by a factor of 2 and acceleration by a factor of 4.
Data type	MC_CONTROL_UNS16_UNIT, see description Control Unit
Special features	The channel parameter P-CHAN-00111 can be used to affect the effect of time override on the dwell time function. See safety not below.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.command_t_ovrd
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	UINT
Unit	0,1 %
Value range	[100, 1000]
Redirection
ST element	.enable_w

Attention

Time override affects real-time and safety functions.

Delays in the use of these functions may lead to longer reaction times for safety functions under certain circumstances.

Time override affects path feed and acceleration independent of real-time functions such as feedhold or safety functions such as reduced speed. The user must consider this when using this function.

Disabling the detection of tool life data
Description	Detecting tool life data is suppressed when this control unit is activated.
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	gpCh[channel_idx]^.bahn_mc_control.tool_life_suppress_capture
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = Tool life data is not detected, FALSE = Tool life data is detected]
Redirection
ST element	.enable_w

Delete distance to go, command
Description	The rising edge of the commanded value has the effect that the CNC channel is decelerated to feed velocity 0. Then a linear motion is executed to the target position of the next motion block (short cut). The command only affects motion blocks. The functional description [FCT-C28] deals with the topic of “Delete distance to go” in detail.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Characteristics	See state data delete_distance_to_go_active_r. P-STUP-00033 must be configured for the channel.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.bahn_mc_control.delete_distance_to_go
Commanded, requested and return values
ST Element	.command_w .request_r .state_r (TRUE indicates that the command was detected by the CNC)
Data type	BOOL
Value range	[TRUE = distance to go to be deleted, FALSE = no impacts on motion blocks]
Redirection
ST Element	.enable_w

Delete distance to go, end marker
Description	This control unit sets the end marker defined in the NC program online to valid. A bit mask is defined for this in the NC program. If at least one single bit in the end marker is set on the NC interface, this marker is valid as a jump target. Example: N10 #DEL DIST2GO [END = '16#0014'] The end marker can be set to valid by bit3 (hexadecimal 4) or by bit5 (hexadecimal 0x10).
Data type	MC_CONTROL_UNS32_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.bahn_mc_control.delete_distance_to_go_activation
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	UDINT
Value range	32-bit
Redirection
ST Element	.enable_w

Online tool compensation (OTC)
Description	The tool radius is compensated by specifying a wear value. The wear value is specified as an offset from the planned cutting edge. It is only possible to used the control unit in the RADIUS or TOOL_DIR modes and in the DISC or AUTO mode. See NC command #OTC. See also functional description [FCT-C20].
Data type	MC_CONTROL_SGN32_UNIT, see description of Control Unit
Special features	If the wear value changes, this change is distributed over several interpolation cycles to avoid sudden changes.
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST Path	gpCh[channel_idx]^.bahn_mc_control.otc_radius_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

Reversible stop
Description	Select/deselect reversible stop. If the #STOP REVERSIBLE [LEVEL=<bitmask>] is programmed in the current block in the NC program,<bitmask>the program stops at block end (ramped deceleration based on the permitted deceleration values) if the same value assigned to the LEVEL option in the NC program is already sent by this control unit to the MOTION Controller thus activating the STOP instruction. The next block is enabled by a control unit command "Continue motion" (continue_motion) if the NC kernel displays that all axes are located in the control window by resetting the status display "Wait for axis group in position" (wait_axes_in_position_r).
Data type	MC_CONTROL_UNS32_UNIT, see description Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w
ST path	gpCh[channel_idx]^.bahn_mc_control.stop_reversible_level
Commanded, requested and return value
ST element	.command_w .request_r .state_r
Data type	UDINT
Value range	[0, MAX_UNS32]
Redirection
ST element	.enable_w

Backward motion
Description	Select/deselect backward motion on the path In basic setting, M/H functions are executed without synchronisation (MOS) in this mode.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Access	PLC reads requested + feedback values and writes commanded value + redirection.
ST path	gpCh[channel_idx]^.bahn_mc_control.backward_motion
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

Simulated motion
Description	Select/deselect simulated forward motion on the path In basic setting, M/H functions are executed without synchronisation (MOS) in this mode. Sections in the NC program can be skipped during program runtime in combination with the NC command #OPTIONAL EXECUTION.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Access	PLC reads requested + feedback values and writes commanded value + redirection.
ST Path	gpCh[channel_idx]^.bahn_mc_control.simulate_motion
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

Reset backward motion memory
Description	Deselects backward motion memory No further NC block is saved in the memory. The memory is deleted. The backward motion memory can only be cleared if no NC program is active.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Access	PLC reads requested + feedback values and writes commanded value + redirection.
ST Path	gpCh[channel_idx]^.bahn_mc_control.backward_storage_off
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

Suppress error output from working space monitoring in manual mode
Description	This control unit suppresses the output of error messages from the working space monitoring system [FCT-C14] in manual mode.
Data type	MC_CONTROL_BOOL_UNIT, see description Control unit
Access	PLC reads requested + feedback values and writes commanded value + redirection.
ST Path	gpCh[channel_idx]^.bahn_mc_control.suppress_area_mon_manual_mode
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Value range	[TRUE = suppress error output; FALSE]
Redirection
ST Element	.enable_w

Simulate motion mask
Description	This control unit specifies a mask. Sections in the NC program can be skipped during program runtime in combination with the “simulate motion” control unit and the NC command #OPTIONAL EXECUTION. When the “simulate motion” control unit is on a positive edge, all sections flagged by #OPTIONAL EXECUTION [SIMULATE MASK=<mask>] containing a bit of the mask are skipped.
Data type	MC_CONTROL_UNS64_UNIT, see description of Control Unit
Access	PLC reads request_r + state_r and writes command_w + enable_w.
ST Path	gpCh[channel_idx]^.bahn_mc_control.simulate_motion_mask
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	ULINT
Value range	0 – MAX(UNS64)
Redirection
ST element	.enable_w
Special feature	Available as of CNC Build V3.1.3107.12

Switch on velocity limiting
Description	By setting this command, the maximum path velocity is limited according to the kinematic and velocity settings.
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	gpCh[channel_idx]^.bahn_mc_control.tcp_velocity_limit
Commanded, requested and return values
ST Element	.command_w .request_r .state_r
Data type	BOOL
Unit
Value range	[TRUE = limits active, FALSE = limits not active]
Redirection
ST Element	.enable_w
Special feature	Available as of CNC Build V3.1.3079.26

Control commands of a channel

CAUTION

CAUTION

Attention

Additional information