Operating mode of an axis (P-AXIS-00015)

P-AXIS-00015

Operating mode of an axis

Description

Axes can be traversed in different operating modes:

Parameter

kenngr.achs_mode

Data type

UNS32

Data range

0x00000001 - 0x10000000

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0x00000001

Drive types

----

Remarks

 

The following operation modes can be parameterised(1):

Value

Meaning

Axis type

Interpolator type

 

Description

ACHSMODE_

 

Path

Spindle

0x00000001

The axis is operated like a linear axis; no modulo calculation is executed. For example, rotary axis with restricted motion range; must be set as default for linear axes.

..LINEAR(1)

T, R

X

 

0x00000004

A modulo calculation is always executed after the target position is reached. Regardless of the mode selected for rotary axes, a modulo calculation is always executed in the position controller. In this way, modulo circle compensation can be executed if required.

..MODULO(1)

R

X

X

0x00000040

Axis is used as a face turning axis (turning functions).

..PLANDREHEN

T

X

 

0x00000080

Axis is used as a longitudinal turning axis (turning functions).

..LAENGSDREHEN

T

X

 

0x00000100

In the case of a spindle, automatic referencing before spindle set-up can be prevented. This is only relevant if the axis is not referenced. The function is drive-dependent.

..KEINE_AUTO_RPF

R

 

X

0x00000200

Axis can be used for the kinematic 'C axis' transformation.

..CAX

R

X

X

0x00000400

Modulo calculation for linear axis. (Example: conveyor belt with drive motor where the position on the belt is programmed in mm).

..MODULO_LINEAR

R

X

 

0x00000800

Axis is released for mechanical blocking by the PLC.

..CLAMPABLE

T, R

X

 

0x00001000

Axis carries a rotary workpiece table.

..ROT_TABLE

T, R

X

 

0x00008000

Monitor for axis collision.

..COLL_CHECK

T

X

 

0x00010000

Master axis of gantry coupling.

..GANTRY_MASTER

T, R

X

 

0x00020000

Slave axis of gantry coupling.

..GANTRY_SLAVE

T, R

X

 

0x00040000

Identifier for controlled spindle.

..SPINDLE_EXT_CTRL

R

 

X

0x00080000

Input axis for additional external position command values (e.g. distance control).

..EXT_CTRL_INPUT

T

X

 

0x00100000

Pure encoder axis, only for displaying current values (e.g. conveyor belt).

..COUNTER

T, R

X

X

0x00400000

The resolution (wegaufz/wegaufn) of this axis can be changed.

..ALLOW_RESOLUTION_
CHANGE(2)

T, R

X

X

0x00800000

Path-dependent dynamic weighting for this axis is possible.

..DYNAMIC_WEIGHTING

T, R

X

 

0x02000000

Path axis for tool centre point path

..PATH_LENGTH_TCP

R

X

 

0x04000000

Path axis for contour path

..PATH_LENGTH_
CONTOUR

R

X

 

0x08000000

Virtual lead axis for path interpolation

..VIRT_LEAD_AXIS

R

X

 

0x10000000

Axis carries the pressure roller for edge bending.

..LAH_OFFSET_AXIS

R

X

 

Notice

notice

(1) One of the two following axis modes must always be specified:

- ACHSMODE_LINEAR or
- ACHSMODE_MODULO

All other bits of the parameter achs_mode are additional specifications. For example, the ACHSMODE_MODULO_LINEAR bit is only useful if combined with the ACHSMODE_MODULO bit.

Notice

notice

(2) Changing certain axis parameters while the controller is running may be critical, e.g. path resolution. Therefore, this parameter can be enabled by setting the bit ALLOW_RESOLUTION_CHANGE in axis mode. Otherwise, these parameters (P-AXIS-00234, P-AXIS-00233) can no longer be changed after controller start-up.

When the bit ALLOW_RESOLUTION_CHANGE is set, a check is first made whether the axis is interpolated, also when other critical parameters change. If the axis is currently in motion, this parameter update is rejected.