Procedure with active "Block search by visu input" and active "auto return"

Notice

Start X means in this description that the start key of the SystemManager (TwinCAT 2) or the MOTION configuration (TwinCAT 3) is pressed in the online tab of the associated channel.

Start 1: Start NC program after parameterising block search

If a block search variant is selected by parameterisation, the NC kernel signals to the control unit after the start of the NC program that the block search is active by setting command_r . This is indicated by the button "CommandR" in the visualisation BlockSearch_Common when it turns green. The axes do not move during block search.

The block search state is displayed on the right of this in the "Block search state Ch1" section and is described by a text. The state comes from the element gpCh[i].bahn_state.block_search_state_r (CNC Build >= 2800) on the HLI. At this point in time the state is 1.

Handshake 1

The PLC must now confirm that it has received the message that block search is active and has completed its preparatory actions. It does this by setting the state_w of the control unit to TRUE. The user assumes this task for the PLC by clicking the button "StateW" which changes its colour to green to indicate that the state_w of the control unit was set to TRUE.

The block search then runs. The axes still do not move. State 2 is indicated as long as block search runs. When block search ends, state 3 is indicated and command_r in the control unit is set to FALSE. This is mirrored in the visualisation BlockSearch_Common so that the button "CommandR" returns to its original state – bright red.

Handshake 2

The PLC must then confirm that it has received the signal for block search end. For this reason, the user must click the button "StateW". This sets state_w in the control unit to FALSE.

Block search then indicates state 4.

Start 2: Approaching the path

Provided that the block search parameter "auto return" was assigned the value 1, the axes approach on the direct path to the position specified in the block search parameters (continue position) and then stop.

State 5 is indicated as long as the axes are moving to the continue position. State 6 is indicated when the continue position is reached.

Start 3: Continuing the NC program

When the user presses the start key in the operation again, the NC program continues processing and the axes move accordingly.