HEIDENHAIN MANUALPLUS 620 - Page 676

676 HEIDENHAIN Technical Manual MANUALplus 620
Module 9411 Read the actual spindle values (speed, coordinates)
Use Module 9411 to read the position and speed values of the spindle.
Constraints:
 This module is only supported by the new symbolic memory interface (API
3.0). If the iTNC-compatible interface is used, then Module 9411 returns
error code 99.
 If the spindle is not in a closed loop, the value 0 is returned for information
#2 (nominal position in reference system) and information #4 (servo lag).
 The values for information #10, #11 and #12 (current speed and final speed)
are signed.
 The accumulated traverse path for information #5 can be reset with Module
9418.
 Information #12 (final speed) results from the programmed speed or
number of rotations under consideration of the override and limitations. It
indicates the speed that the spindle is to reach at the end of the acceleration
ramp.
 In order to receive one of the two "Request switchover" status values for
information #20, the speed-dependent wye/delta switchover (Module 9417)
must be active.
 The accumulated traverse path for information #21 (path-dependent
lubrication) can be reset with Module 9418. Path-dependent lubrication is
not usual for spindles, but is supported in special cases.
Call:
PS B/W/D/K <>Spindle index>
0: Spindle 1
1: Spindle 2
etc.
PS B/W/D/K <>Desired spindle information>
1 : Actual position in the reference system
2 : Nominal position in the reference system
4: Following error
5 : Accumulated traverse path
10: Actual speed
11: Nominal speed
12: Nominal speed at the end of acceleration
20: Information about wye/delta operation
21: Information about path-dependent lubrication
CM 9411
PL D <>Spindle information>
For 1 to 5: Value in 0.0001°
For 10 to 12: Value in 0.001 rpm
For 20: 0: Spindle in wye operation
1: Request for wye/delta switchover
2: Spindle in delta operation
3: Request for delta/wye switchover
For 21: 0: Traverse path for path-dependent lubrication
not reached yet
1: Traverse path for path-dependent lubrication
exceeded