Handling the control units on the HLI

The following control unit must be activated at the PLC interface (HLI):

hli.axis[X-1].lr_mc_control.add_cmd_values.enable_w = TRUE

It is then possible to specify additive values at the current interpolator setpoint input of the axis.

Additive position setpoint input:

hli.axis[X-1].lr_mc_control.add_cmd_values.command_w.m_add_pos_value

Additive velocity setpoint input:

hli.axis[X-1].lr_mc_control.add_cmd_values.command_w.m_add_speed_value

These values are added to the current interpolator position or velocity in every interpolator cycle and output to the drive (so be careful when using the control unit with real drives).

In other words, if an axis was moved to position 90 using MC_MoveAbsolute, an additive position setpoint of 10 causes the axis to move to position 100. This position is then retained until a new position is specified.

To move an axis continuously, we recommend the use of the additive velocity interface. If the accuracy is insufficient, the additive position setpoints must be specified continuously without modulo break to prevent the axis from moving backwards.