July 2013 6.8 The control loop 829
The following MP7684 should no longer be used in HSCI systems. The
nominal position value filters should be adjusted via machine parameters 12xx.
MP7684 Nominal position value filter (bit 0 to bit 4) and path control
with M128 or TCPM (bit 5 to bit 7)
Format: %xxxxxxxx
Input: Bit 0 - Nominal position value filter
0: Include acceleration
1: Do not include the acceleration
Bit 1 – Nominal position value filter
0: Include the jerk at corners
1: Do not include the jerk at corners
Bit 2 – Nominal position value filter
0: Include the tolerance
1: Do not include the tolerance
Bit 3 – Nominal position value filter
0: Include the radial acceleration
1: Do not include the radial acceleration
Bit 4 – Nominal position value filter (has priority over MP1222
and MP1223)
0: Jerk and tolerance limits at changes in the curvature are
included
1: Jerk and tolerance limits at changes in the curvature are not
included
Bit 5 – Reserved
Bit 6 – Feed rate with M128 or FUNCTION TCPM
0: Feed rate profile improved. The feed rate at the TCP is kept
constant while maintaining the parameters for acceleration, jerk
and tolerance
1: Feed rate profile like up to and including 60642x-01.
Bit 7 – Detection of curvature changes
0: Detection of curvature changes improved.
1: Detection of curvature changes like up to and including
60642x-01.
Bit 8 – Reserved
Bit 9 – Accelerated 5-axis machining with M128 with many
rotary axis motions that are less than 2° per positioning block
(not with handwheel superimpositioning with M118)
0: Inactive
1: Active
Bit 10 - Modification of the calculation of the contouring feed
rate at the beginning of a contour element
0: Active
1: Inactive
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