Axis Positions In The Transformation Chain - Siemens SINUMERIK 840D sl Function Manual

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M1: Kinematic transformation

7.5 Chained transformations

Axis positions in the transformation chain

System variables having the following content are provided for machines with system- or

OEM transformations, especially for chained transformations (TRACON):

The following must be observed with reference to the control system responses:

System variable

$AA_ITR[ax,n]

$VA_ITR[ax,n]

The encoder position has the value 0 for not-referenced axes. The encoder actual values

are inverse-transformed accordingly for the $VA variables.

An active transformation can change in RESET, which has a direct influence on the

values of the system variables. An active transformation which is active again after

RESET, is deactivated for a short duration and then reactivated. This has a direct

influence on the position variables. The values of variables can change.

Via the variable:

$AC_STAT == 0

this status can be queried in synchronous actions.

Current setpoint value at output of the nth transformation

Current setpoint value of a cartesian axis

Current actual value at output of the nth transformation

Current cartesian BCS encoder position of an axis

Current WCS actual value of an axis

Current BCS encoder position of an axis

Function Manual, 09/2009, 6FC5397-1BP20-0BA0

Extended Functions

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