M/H function handshake with PLC

Synchronisation of M/H functions

In the basic setting, all M and H functions are executed without synchronisation (synchronisation type MOS) when the “backward motion” and “simulate motion” control units are active. If synchronisation is required, an additional bit must be set to parameterise the synchronisation type of the M or H function.

BWD_SYNCH       0x400000  (Synchronisation in backward direction )

FWD_SYNCH       0x800000  (Synchronisation in forward direction )

They must be set in addition to the other available synchronisation types for M functions (P-CHAN-00041) in the channel parameter list or P-CHAN-00027 for H functions.

Standard forward and repeated forward motion

In the forward direction, the original synchronisation type of the M functions is executed in the same way as in the channel parameters.

Backward - “backward motion” control unit

If the BWD_SYNCH bit is set, the M/H functions are always synchronised by the synchronisation type MVS_SVS for backward motion on the path.

Simulate motion - “simulate motion” control unit

If the FWD_SYNCH bit is set, the M/H function are output with the configured synchronisation types for “simulated” motion occurs.

Combination of backward (“backward motion” control unit) and “simulated” motion (“simulate motion” control unit)

If the BWD_SYNCH bit is set, the M/H functions are always synchronised with the synchronisation type MVS_SVS.

If the FWD_SYNCH bit is set, the M/H functions are always synchronised without synchronisation (MOS).

Both bits are set (BWD_SYNCH and FWD_SYNCH), the M/H functions are always synchronised with the synchronisation type MVS_SVS.

Example

M function parameterisation variants

M2, M101 and M102 are synchronised in backward motion:

m_synch[2]              0x00400002

m_synch[101]            0x00400002

m_synch[102]            0x00400004

M103 and M104 are synchronised for “simulated” motion:

m_synch[103]            0x00800002

m_synch[104]            0x00800004

M105 is synchronised for “simulated” motion and backward motion:

m_synch[105]            0x00C00002