HLI commands
Reversible stop | |
Description | Select/deselect reversible stop. If the function #STOP REVERSIBLE [LEVEL=<bitmask>] is programmed in the current block of the NC program, the program stops at block end (ramped deceleration complying with permitted acceleration values) if the same value assigned to the option LEVEL was already sent by this control unit to the Motion Controller and the stop command was activated. 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 of 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 values | |
ST element | .command_w .request_r .state_r |
Data type | UDINT |
Value range | [0, MAX_UNS32] |
Redirection | |
ST element | |
Resume 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 of 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 values | |
ST element | .command_w .request_r .state_r |
Data type | BOOL |
Value range | [TRUE, FALSE] |
Redirection | |
ST element | |