1026 HEIDENHAIN Technical Manual iTNC 530 HSCI
6.14.5 Commissioning of digital axes
The iTNC must be adjusted in sequence for the:
Current controller
Speed controller
Position controller
The signals that you need are recorded with the integral oscilloscope.
Current controller Use the integrated oscilloscope to adjust the current controller. The speed and
position control loops are open when you adjust the current controller. You
must therefore activate a special PLC commissioning program:
Enter the name of this PLC program in the OEM.SYS file with the PLCPWM =
instruction.
It suffices to program an EM (end module).
The drive must be enabled externally and the iTNC needs the "ready" signal.
As soon as the PLC program defined with PLCPWM = is active, you can use
Module 9168 to interrogate the commissioning status.
Module 9168 Interrogate the commissioning status
Call:
CM 9168
PL D <Status>
–1: Commissioning not active or as yet no axis is selected
Axis-specific: Dependence on MP4020 bit 14
Spindle – spindle operating mode
0: Operating mode 0
1: Operating mode 1
PLC module 9168 is a special case. This PLC module issues an error message
when the PLC module interface is active (MP4020 bit 14) and can no longer
be used. Please use PLC Module 9065 (status of HEIDENHAIN power supply
unit) instead of PLC Module 9168.
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