User data

Command data – Insert command
Description	Control data for inserted STOP command
ST path	gpCh[channel_idx]^.bahn_mc_control.insert_cmd.command_w
ST name	HLI_INSERT_CMD_COMMAND

ST element	.dist_or_pos
Data type	LREAL
Description/special features	Relative/absolute distance or axis position at which the stop is to be inserted. [0.1 µm] The default setting is DISTANCE mode, the POSITION mode is active at a value of “.axis_nr“ > 0

ST element	.rel_abs_mode
Data type	UINT
Description/special features	Value = 0 for relative distance with automatic insertion of a new stop when the current stop is reached Value = 1 for one-off insertion at the absolute distance Value = 2 for one-off insertion at the relative distance

ST element	.axis_nr
Data type	UINT
Description/special features	Value = 0 for DISTANCE mode Value > 0 for POSITION mode: Stop is inserted at the commanded axis position of the axis with the logical axis number = “.axis_nr”.

ST element	.m_function_nr
Data type	UINT
Description/special features	Number of the inserted M function Value = 0 for M00 programmed stop Value = 1 for M01 optional stop (enabled/disabled with m01_stop_enable CU) Value > 1 for M<m_function_nr> with MVS_SVS synchronisation

ST element	.add_nr
Data type	DINT
Description/special features	Optional additional value of the M function; it is specified as a negative or positive integer.

Status data – Insert command
Description	Status data of the insert command control unit
ST path	gpCh[channel_idx]^.bahn_mc_control.insert_cmd.state_r
ST name	HLI_INSERT_CMD_STATE

ST element	.distance_of_next_stop
Data type	LREAL
Description	Absolute distance (dist_prog_start) of the feed axes (#FGROUP) at the next stop [0.1 µm] Value >= 0 : Stop found, axis positions correct Value = -1 : Stop still not found in the NC program

ST element	.position_at_next_stop[idx]
Data type	ARRAY[0..HLI_CS_AXIS_MAXIDX] OF DINT
Description	When command_w.axis_nr = 0, the axis positions X, Y, Z are assigned accordingly at the next stop in the PCS [0.1 µm] command_w.axis_nr > 0; .position_at_next_stop[0] contains the axis position of the commanded axis at the next stop position_at_next_stop[1]=0 and position_at_next_stop[2]=0

ST element	.state
Data type	DINT
Description	Status if the current command_w. Value =0: no stop commanded Value=1: Stop commanded but not yet reached